【摘要】 本文介绍了一种新型足－掌机构，利用该机构可以解决多足爬壁机器人从地面向壁面过渡行走的难题．通过对机构的运动学正、逆问题的求解，推导出足端的工作空间以及可达的极限位置，同时对机构进行了受力分析，为规划多足爬壁机器人地壁过渡行走、机构参数的选择以及优化设计提供了理论依据更多还原

【Abstract】 This paper presents a new kind of leg mechanism with which the wall climbing robot can easily fulfill the automatic ground to wall transition. To get its working envelope and limit position, the forward/inverse kinematics and the statics of the mechanism are solved. All of these lay the foundation for ground to wall transition gait programming, mechanism parameter selection and optimization.更多还原