This paper analyzes the motion space of pantograph leg mechanism in order todesign and manufacture a quadruped walking robot. We get the space motion of legwith three rectilineal motion in Cartesian coordinates.

• 为了研制实用的缩放式四足步行机器,本文对在三维直角坐标系中用三个直线运动来实现足端空间运动的缩放式腿机构的运动空间进行了分析。