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Kinematic Research of the Multi-Motion Pattern Bionic Mechanism

In this paper, a new multi-motion pattern bionic robot was proposed by us. Though we analyzed the robot as a hybrid series-parallel mechanism, the robot is a wheeled-legged robot, and a new methods for constructing the kinematic model of the special four-bar mechanism of the robot very quickly and efficiently was introduced. Then, the kinematic model of the parallel mechanism of the multi-motion mode bionic robot was constructed when the robot was in the stance phase.