中文摘要：

针对四足步行机器人运动学正解的解析法求解困难,以几何法求解为基础,采用网格划分的方式,联合Matlab,VB,SolidWorks软件,进行了具有手/脚融合功能的四足步行机器人变姿态下的工作空间研究.研究表明,这类机器人依结构条件形成运动可行域,依整体稳定性条件形成约束空间,该约束空间随机器人姿态与抓取重量的改变而变化,而运动可行域与约束空间交集形成工作空间.在论述机器人工作空间与稳定性关系的基础上,给出了机器人稳定性判据,对机器人总质心求解过程进行了描述,开发了工作空间自动计算系统,以实例进行了说明.并通过仿真及实际抓取,对理论进行了验证.该类机器人是在并联机构上运载串联机构形成组合机构的结构模式,上述理论对于该类组合机构的工作空间研究具有普遍意义.

英文摘要：

Based on the computer aided geometric method, the workspace of posture-varing quadruped robots with hand- foot-integrated function was studied by using the grid partition way combined with the software of Matlab, VB, Solid- Works, to sove the difficulty that the analytic method is hard to obtain a forward kinematics positive solution of quad- ruped walking robots. The study shows that the motion feasible region forms from the structure conditions of the ro- bots, the constraint space comes from the robot overall stability conditions, the constraint space changes with the ro- bot posture and the grabbing weight, and the intersection part of the motion feasible region and the constraint space forms work space. Based on the discussion about the relation between workspace and robot stability, the stability cri- teflon of the robots is given, and the solution process of the total centroid position of the robots is described. The au- tomatic computing system of workspace was developed and an example was illustrated. The above theory was verified through form the research simulation and actual capture： In this kind of robots, the parallel mechanism carries serial mechanism to structure of combined mechanism model, and the proposed theory is of universal significance for workspace of this kind of combined mechanism.