中文摘要：

四足仿生机器人一直是机器人领域研究的热点之一。对国内外的研究现状和代表样机进行综述,总结现有四足机器人的腿构型的优缺点。混联腿构型结合了并联机构和串联机构的优点,可在提高机器人载重/自重比的同时,满足快速稳定响应的需求,从而实现高速、低能耗、高承载的运动。提出三种不同的3自由度混联腿机构,由1自由度的四杆机构和2自由度的平面并联机构串联组成。建立3种混联腿的运动学模型。根据四足机器人的行走设计需求,总结三种混联腿机构的特点,并建立其各自的工作空间模型。基于对角小跑的轨迹,分析三种混联结构在空间上的承载能力和各向同性度。通过对比分析选择第三种混联腿作为最优选项,并进一步与经典串联腿进行驱动力矩比较,证实混联腿的优越性。通过样机负重行走试验验证结果的可靠性,为四足混联腿机构机器人的后续研究奠定理论基础。

英文摘要：

The research of quadruped robot has become one of the hottest spots of robotics. A review of current status and development of quadruped robot is given; the serial architectures of leg mechanism arc listed. Hybrid leg mechanism is advantageous to achieve needs of high-payload, energy consumption and high mobility. Three type of hybrid leg mechanism are designed. For each of them, a 2-DOF planar parallel mechanism is designed for lifting up a heavy load and providing trot trajectory and a four-bar link is used to swing the planar part while the robot steps on irregular terrain or balances outer strike. Design concept of leg and kinematic modeling method of robot arc introduced. The workspaces are analyzed to maintain robot mobility. The load capabilities are given and a trot trajectory with the pace of 300 ram.The isotropy criterions arc shown for back-and-forth with left-and-right locomotion. The third type is the best and furthermore compared with classic serial leg. A prototype is build to verify all the results through trotting expcrirnent.