摘要本文介绍了一种应用两个电机驱动的六足式步行机器人,并对该机器人的运动机理与步态进行了分析,经样机实验,所设计的机器人可实现前进、后退、遇障转弯等功能,具有结构简单,控制便捷,行走稳定的特点。基于仿生学原理,应用连杆机构学中的Robert原理,设计出一连杆轨迹能较好地近似于机器人理想足部轨迹的四杆机构，选择足部运动曲线并在图谱上找到该曲线，以确定四杆机构的各个参数。由参数和电动机的输出转矩就能确定足部的线速度和加速度。并通过PRO/E软件,对用这一连杆机构作为腿部机构的六足机器人进行了前进和转弯步态建模，并对它进行了稳定裕量分析，包括静力学分析和动力学分析。针对这种腿部结构设计了六足的行走方式,通过对12个步进电机的控制,采用三角步态,实现了六足机器人的直行功能。仿真及试验证明,这种结构能较好地维持六足机器人自身的平衡,并且对今后更深入地研究六足机器人抬腿行走姿态及可行性,具有较高的参考价值。关键词：六足机器人；行走步态；运动原理；稳定性；四杆机构abstractThispaperintroducedasix-leggedwalkingrobotpropelledbytwoelectromotors,andanalyzedtherobot'skineticmechanismandwalkingstyle.Provedbythemodeltest,therobotiscapableofactionssuchasforwarding,backwardingandveeringinthecaseofobstruction.Therobotdemonstratessuchadvantagesassimplestructure,comfortablecontrolandstableperformanceofpacing.Basedontheprincipleofbionics,thispaperdesignsafour-linkedmechanismusingRobertprinciple,whichcanapproximatetheidealtraceofrobot'sleg,choosethesportcurveofthefootdepartment,thenchecktofindoutthatcurveonthediagram,theoldabilitybutlocationscanmakesurefoureachparametersofthepolestructure,canmakesurethelinespeedandaccelerationsofthefootdepartmentfromtheexportationdintoftheparameterandelectricmotor.Somesimulationsaboutthehexapodrobotwhichusesthesix-linkedmechanismasitslegaremade，andcarriedonthestabilitytoitanalysis,includethequietmechanicsanalysisanddynamicsanalysis.Ahexapodwalkingmodewasdesignedaccordingtothisstructure.Bycontrolling12stepmotorsstraightwalkingfunctionofthehexapodrobothasbeenimplementedwithtripodgaitmovement.Simulationandexperimentshowthatthisstructurecankeepthehexapodrobotbody'sbalancebetter,providinghighreferencevaluetoresearchtheadvantageandfeasibilityofleg-raisingwalkinggesture.Keyword:sixfootrobot;Treadtheappearanceofwalk;Thesportprinciple;Stability;Fourpoleorganizations目录TOC\o"1-2"\h\z\uHYPERLINK\l"_Toc200979481"摘要PAGEREF_Toc200979481\hIHYPERLINK\l"_Toc200979482"abstractPAGEREF_Toc200979482\hIIHYPERLINK\l"_Toc200979483"1绪论PAGEREF_Toc200979483\h1HYPERLIN