中文摘要：

基于四足哺乳动物的身体构造及运动特点,利用Pro/E设计出了腿部拥有3个自由度的四足机器人简化模型,并通过ADAMS进行仿真验证其结构的合理性和运动的稳定性。在机器人行走中给予其侧向冲击,分析对运动的影响,从而为机器人的结构优化和姿态控制提供一定的理论依据。

英文摘要：

Based on the body structure and kinematic characteristics of quadruped mammalian,we designed a simplified model of quadruped robot with three degrees per leg by Pro/E.In ADAMS the model was simulated to validate the structure rationality and motion stability.The robot was given a lateral impact in motion,so we could analyze the affect of the impact on its motion,to make a theoretical foundation for robot＇s structural optimization and attitude control.