将处于支撑相的六足机器人视为时变的并联机构进行运动学分析，给出了姿态给定情况下机体工作空间的确定方法及边界方程。在此基础上基于运动相对性原理，提出将机体的运动规划转化为足端轨迹规划的方法，从而简化机体运动规划中逆解的求取问题，并通过仿真与实验进行了验证。结果表明：六足机器人在支撑相内机体的工作空间为至多是支撑腿条数个空心球体的交集，利用运动相对性原理对支撑相内机体的运动规划问题进行转化简便、可行。%A hexapod robot in support phase was regarded as a time-varying parallel mechanism to make the kinematics analysis.The determination methods and boundary equations of the workspace were described herein for the hexapod robot whose body posture was given.Based on the relative mo-tion theory,a method to transform body motion planning into foot trajectory planning was presented to simplify the issue of body motion planning.Simulation and experimental results show that the workspace for the hexapod robot in support phase is the intersection of the hollow spheres whose number is up to the number of the support legs and using the principles of relative motion to trans-form the issue of body motion planning in support phase it is simple and feasible.
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