Abstract In order to enhance the terrain mobility of the close-chain leg mechanism and maximize its advantages, a novel dual degree-of-freedom (DoF) octopod platform with a reconfigurable trunk is proposed. The walking strategy of the close-chain multi-legged mechanism is adjusted through the spatial close-chain trunk mechanism. These two single-DoF close-chain mechanisms are designed and coupled to constitute whole close-chain mechanism as the walking platform. The locomotion modes of the trunk are discussed with the mobility analysis. In steering mode, the motion characteristic is analyzed under the combined action of steering linkage and elastic deformation. In climbing mode, the kinematic analysis and dimensional optimization are carried out, and the obstacle-climbing ability is evaluated through the probability model. To enhance climbing smoothness and efficiency, the assisted appendage is developed with the inner loop of Watt-Ⅰ leg linkage. A series of dynamic simulations is conducted and analyzed to test the platform performance, and a prototype is fabricated to testify the walking speed, steering property and obstacle-climbing capability. This study provides a new reference for close-chain legged platform development.

中文翻译：

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具有可重构躯干的新型八足平台的设计与分析

摘要 为了增强闭链腿机构的地形机动性并发挥其优势，提出了一种具有可重构躯干的新型双自由度（DoF）八足平台。密链多腿机构的行走策略通过空间密链躯干机构进行调整。这两个单自由度闭链机构经过设计和耦合，构成了整个闭链机构作为行走平台。通过移动性分析讨论了躯干的运动模式。在转向模式下，分析转向连杆和弹性变形共同作用下的运动特性。在爬坡模式下，进行运动学分析和尺寸优化，通过概率模型评估越障能力。为提高攀爬的平稳性和效率，辅助附件采用Watt-Ⅰ腿连杆内环开发。对平台性能进行了一系列的动力学仿真和分析，并制作了样机，验证了其行走速度、转向性能和越障能力。该研究为闭链腿平台开发提供了新的参考。