[1] [1] WALDRON K J. Configuration design of the ASV. int [J]. J. of Robotics Research, 1984, 3(2): 37-48.

[2] [2] GAO Y G, ZHANG Q, SHI Y L. Structure design of precise displacement platform without guiding apparatus [J]. Opt. Precision Eng., 2009, 17(9): 2200-2205. (in Chinese)

[3] [3] LIU J G, WANG Y CH, LI B, et al.. Current research,key performances and future development of search and rescue robot [J]. Chinese Journal of Mechanical Engineering, 2006, 42(12): 1-12. (in Chinese)

[4] [4] LIU J G. Domestic and foreign military robotics industry development status [J]. Robot Technique and Applicationg, 2009(2): 25-31. (in Chinese)

[5] [5] ELENA G, MARIA A J. The evolution of robotics research [J]. Robotics And Automation, 2007, 3(10): 90-102.

[6] [6] COLLINS C. Stiffness modeling and force distribution for the all-terrain hex-limbed extra-terrestrial explorer (ATHLETE) [C]. ASME 2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, September, 2007: 1-9.

[7] [7] CUI B Y, JIN ZH L. Statics analysis and structure parameter design of robot shoulder joint based on orthogonal mechanism [J]. Opt. Precision Eng., 2011, 19(1): 77-82. (in Chinese)

[8] [8] WANG B Y. Simulation and Performance Analysis on New Type of Bionic Quadruped Robot [D]. Qinhuangdao: Yanshan University, 2011: 55-70. (in Chinese)

[9] [9] NI S. The Design of Quadruped Robot Based on 2-UPS&UP Parallel Mechanism Leg [D]. Qinhuangdao: Yanshan University, 2011: 35-70. (in Chinese)

[10] [10] WANG H B, QI Z X, HU Z W, et al.. Application of parallel leg mechanisms in quadruped/biped Reconfigurable walking robot [J]. Journal of Mechanical Engineering, 2009, 45(8): 24-30. (in Chinese)

[11] [11] WANG H B, XU G L, ZHANG D F, et al.. Kinematics modeling and simulation of quadruped/biped walking robot with parallel leg mechanism for the elderly and the disabled [J]. Journal of Yanshan University, 2010, 34(6): 508-515. (in Chinese)

[12] [12] HUANG Z, ZHAO Y S, ZHAO T S. Advanced Spatial Mechanism [M]. Beijing: Higher Education Press, 2006: 277-283. (in Chinese)

[13] [13] ZENG D X, HUANG ZH. Type synthesis of the rotationaldecoupledparallel mechanism based on screwtheory [J]. Sci China Tech Sci, 2011, 41(5): 585-591.

[14] [14] XIONG Y L. The Basis of Roboticsy [M]. Wuhan: Huazhong University of Science & Technology Press, 1996: 32-55 (in Chinese)

[15] [15] JOHN J C. Introduction to Robotics: Mechanics and Control [M]. USA: Wesley Publishing Company, 1989: 117-119.

[16] [16] YU J J, LIU X J, DING X L et al. Mathematical foundations of robot mechanism [M]. Beijing: Mechanical Industry Press, 2008: 11-12. (in Chinese)

[17] [17] GOSSELIN C, ANGELES J. Global performance index for the kinematic optimization of robotic manipulators [J]. Journal of Mechanisms, Transmissions, and Automation in Design,1991,113(3):220-226.

[18] [18] HUANG T, GOSSELIN C M, WHITEHOUSE D J, et al.. Analytic approach for optimal design of a type of spherical parallel manipulators using dexterous performance indices[J]. IMechE Journal of Mechanical Engineering Science, Part C, 2003, 217(2):203-207.