SUMMARYIn this paper, a new type of biped mobile robot is designed. Each leg of the robot is a 6 degree-of-freedom (DOF) parallel mechanism, and each leg has three relatively fixed landing points. The leg’s structure gives the robot better performance on large carrying capacity, strong environmental adaptability and fast moving speed simultaneously. At the same time, it helps the robot move more steadily and change direction more simply. Based on the structural features of the leg, the inverse kinematics model of the biped robot is established and a unified formula is obtained. According to an analysis of robot’s workspace, gait planning is completed and simulated. Finally, the special case that the robot can keep the upper body horizontal while walking on a slopy surface is validated.

中文翻译：

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两并联机构行走机器人的设计与研究

总结本文设计了一种新型的双足移动机器人。机器人每条腿是一个6自由度（DOF）并联机构，每条腿有3个相对固定的落点。腿的结构使机器人在承载能力大、环境适应性强、移动速度快的同时具有更好的性能。同时，帮助机器人移动更平稳，换向更简单。基于腿的结构特征，建立了双足机器人的逆运动学模型，并得到了统一的公式。根据对机器人工作空间的分析，完成并模拟了步态规划。最后，验证了机器人在斜坡上行走时可以保持上半身水平的特例。