A parallel mechanism was applied to the mechanical leg of a six-legged robot to expand the application areas of the six-legged robot. A new mechanical leg based on the (U+UPR)P+UPS parallel mechanism was proposed, and the structure parameters of the mechanical leg were designed. Firstly, the kinematics of leg mechanism was discussed, and the inverse position and velocity mapping equations were presented. Then, the workspace of the leg mechanism was discussed and a 3D map of the workspace was drawn. The performance evaluation index of workspace was defined and the relationship curve of the structure parameters and the evaluation index of workspace was given. Furthermore, the kinematics dexterity of the leg mechanism was analyzed, and the 3D map for condition numbers of Jacobian matrix was drawn. The performance evaluation index of kinematics dexterity was defined, and the relationship curve of the structure parameters and the index of kinematics dexterity were given. Finally, based on the indexes of workspace and kinematic dexterity, the structure parameters were analyzed by Monte Carlo method. A set of excellent structural parameters were proposed,and a 3-DOF mechanical leg was designed. These results lay the theoretical foundation for the further study of six-legged robots.%将并联机构用于六足步行机器人的腿部结构,以拓展六足步行机器人的应用领域.提出了一种基于(U+UPR)P+ UPS机构的并联机械腿,并对机械腿进行了结构参数设计.首先,对腿部机构进行了运动学分析,推导出了腿部机构的位置反解方程和速度传递方程;分析了腿部机构的工作空间并绘制了工作空间三维图,定义了工作空间性能评价指标,绘制了结构参数与工作空间性能指标的关系曲线.然后,对腿部机构进行了运动灵活性分析并绘制了雅克比矩阵条件数分布图,定义了运动灵活性评价指标,绘制了结构参数与运动灵活性指标的关系曲线.最后,基于工作空间性能指标和运动灵活性指标,采用蒙特卡罗法进行了结构参数分析,选取了一组性能较好的结构参数并考虑加工和装配工艺性,设计了一种新型3自由度并联机械腿的虚拟样机,为六足步行机器人的进一步研究奠定了基础.
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