针对液压驱动六足机器人三节段步行腿,建立了运动学模型,规划了足端运动轨迹,分析了腿长比例对步行速度、关节速度和加速度、足端工作空间及机体灵活度的影响.发现基节比例在0~0.1之间、大腿比例在0.4~0.5之间时,各项指标处于合理范围.根据0.09:0.455:0.455的腿长比例建立了腿部实物模型,搭建了腿部性能测试系统.试验结果表明,关节运动过程中未到达液压缸极限位置且无死点;关节最大速度与加速度满足性能需求;各关节最大速度复现偏差小于0.2?/s,最大加速度复现偏差小于0.7?/s2.验证了腿部节段长度分析结果的合理性与可行性. Aiming at the three legs walking leg of a hydraulically actuated hexapod robot, a kinematics model is established and the trajectory of the foot is planned. The effect of leg length on the walking velocity, joint velocity and acceleration, footwork workspace and body flexibility is analyzed. According to the ratio of the leg length of 0.09: 0.455: 0.455, the leg physical model was established and the leg performance test was set up System.Experimental results show that the joint does not reach the limit position of the hydraulic cylinder and there is no dead point; the joint maximum speed and acceleration meet the performance requirements; the maximum velocity recurrence deviation of each joint is less than 0.2? / S, the maximum acceleration recurrence deviation is less than 0.7 ? / s2. Validation of leg segment length analysis of the rationality and feasibility.