本学位论文研究具有十八个独立驱动关节的六足步行机运动学。根据这种步行机所作的运动学分析,建立了旨在使其重量轻、稳定度大、耗费功率小的最优化计算目标函数,并运用内点罚函数法求解这一问题获得了最优结构参数。本文还研究了使步行机适应不平坦地形的困难问题,将六足机众多的变量划分为车体的位置与姿势,腿关节的转角,各足端的位置等三组,引入静、动两个坐标系为媒介,推导出了已知其中两组变量求解第三组变量的方法,并编制了求解的计算 This dissertation studies the kinematics of six-foot walking machines with eighteen independently actuated joints. According to the kinematics analysis of this walking machine, the optimal objective function for light weight, stability and power consumption is established and the optimal structure is obtained by using the interior penalty function method to solve the problem parameter. This paper also studies the difficulty of adapting pedestrian to uneven terrain. It divides many variables of hexapod into three groups: the position and posture of the car body, the corner of the leg joint and the position of each foot. Coordinate system as a medium, a method of solving the third group of variables in which two sets of variables are known is derived and a calculation of the solution