通过在SolidWorks软件中建立四足步行机器人MiniQuad-Ⅱ的三维实体模型,采用ADAMS进行运动学、动力学仿真。在对相关过程进行描述的基础上,以MiniQuad-Ⅱ运行直线步态为例,利用ADAMS对该机器人在运行过程中的力学特性进行了分析。探讨了增减机器人机体载荷质量时对机器人驱动力矩影响。该分析结果可以作为扩展机器人用途、优化机器人结构、确定机器人动力参数的依据。该文的方法与思路对解决同类问题有一定的参考意义。 Through the establishment of SolidWorks software MiniQuad-Ⅱ four-dimensional robot three-dimensional solid model, the use of ADAMS kinematics and dynamics simulation. Based on the description of the related process, taking the MiniQuad-Ⅱ running straight gait as an example, the mechanical characteristics of the robot in operation are analyzed by using ADAMS. The influence of robot driving torque on the increase or decrease of robot body mass load is discussed. The results of this analysis can be used as a basis for extending the use of robots, optimizing the structure of robots and determining the dynamic parameters of robots. The method and train of thought of the article have certain reference meaning for solving similar problems.