摘要
从机构学角度，对昆虫各关节所允许的运动进行了分析，并建立了相应的机构模型．结合昆虫实际运动时可能出现的各种步态，建立了相应的整体多环机构模型．为研究仿昆虫步行器奠定了基础．
The structure of insect's thorax and legs conscientiously was studied,the mechanic model was set up from the point of view of mechanics. And then the longhorn's overall multi-loop mechanic model according to its gait also was set up. It is todo lay a sound foundation for the study of hexapod walking machine.
基金
国家自然科学基金
