The results show that the whole mechanism can accomplish scheduled purpose, the velocity and acceleration of the mechanism are reasonable, the trotting pace can also complete the motion simulation.

• 结果表明，整体机构能够完成预定的设计目标，机构运动速度及加速度轨迹比较合理，对角小跑型步态整体机构的运动模拟也能够实现。