中文摘要：

以一种具有变形关节的多运动模式仿生移动机器人为研究对象,利用坐标变换法构建了并联机构的运动学模型;利用各分支末端之间的几何关系,求解了并联机构的运动学正解,并进行了仿真验证,仿真结果表明该机器人运动学模型构建正确、运动学正解求解正确;利用几何建模和数值求解方法对并联机构的运动学逆解存在性进行了求解验证与分析证明。

英文摘要：

Kinematics based on parallel mechanism of a new bionic-mobile robot with six legs were studied,and the method of coordinate transformation was used to construct kinematic model for parallel mechanism of the bionic-mobile robot;the geometrical relationship among the ends of different branches was applied to solve forward kinematics for the parallel mechanism,and the results of simulation indicate that construction of the kinematic model is right,solution of the forward kinematics is right;geometric modeling and numerical solution can be used to solve the inverse kinematics for parallel mechanism of the bionic-mobile robot and the existences of inverse kinematics for the parallel mechanism was testified.