Kinematics Analysis and Gait Planning of a Three-Limb Robot

Aiming at a three-limb robot with integration of its arm and leg mechanism,regarding robot's limb operating pattern as the special work process of its motion pattern,and translating kinematics analysis of the whole robot into the task of a kinematic combination of each limb acting as a standing or a swinging foot,the unification of kinematics model of the robot under circumstances of locomotion and operation is successfully realized.Working patterns of the three-limb robot in the state of both locomotion and operation are planned.A gait simulation of the three-limb robot is performed,it therefore justifies the previous theoretical analysis and lends a solid theoretical basis to the design of the robot controller in the future.