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本研究提出了一种适合作为多足爬壁机器人腿的足－掌机构．采用这种足－掌机构的爬壁机器人不仅能够顺利实现地－壁过渡行走，而且有可能适应其他形状的非平壁面（如球面、柱面）．足－掌机构以平面正缩放机构为基础，附加两套四连杆机构实现对掌姿态的主动控制．文中分别讨论了其机构原理、样机的驱动和传动方案、传感和控制系统结构方案等
This study presents a foot-palm mechanism that is suitable as a leg of a multi-footed robot. Climbing robots using this foot-and-palm mechanism can not only smooth the ground-wall transitional walk, but also adapt to other shapes of non-flat walls (such as spherical surfaces and cylindrical surfaces). Foot - palm body to the plane is based on zooming mechanism, additional two sets of four-bar linkage mechanism to achieve active control of the gesture. The paper discusses the principle of the mechanism, prototype driving and transmission scheme, sensing and control system structure scheme