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This paper aims to disclose the kinematics and optimize the design of multi-mode mobile parallel mechanism. To this end, a multi-mode mobile parallel mechanism was designed based on single-loop planar 4R systems. The horizontally symmetric mechanism is controlled by two motors: the mechanism can switch freely among different modes of movements (e.g. sliding, turning and rolling) by changing the input angles of the two motors. Based on the mechanism structure, the author analysed the degrees of freedom (DOFs) and kinematics of each mode, and optimized the stability of the mechanism. The results show that the mechanism is more stable at a short rod length and small rotating angle, when its width is constant. Finally, the theoretical correctness of the mechanism was verified through simulation and prototype test. The research findings provide a valuable reference for similar studies on multi-mode mobile parallel mechanism, and lay the theoretical basis for the application of mobile robots in various fields.

Abstract. Based on the analysis of the research background and current situation of the legged mobile robots at home and abroad,in this paper we discusses the existing research methods of the legged mobile robot in the mechanical structure design; discusses the mainproblems in the design of the mobile robot, and to focus on the emergence of instability and poor adaptability and obstacle-surmounting performance of the legged mobile robot to find the corresponding solution in the process of movement.

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