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在分析天牛类昆虫结构特点的基础上，建立了这类昆虫以三角步态行进时的整体多环机构模型。由于该机构的结构呈非对称的３—ＲＲＲＳ形式，躯体位置和姿态的求解比较困难，本文采用了特殊的数学处理，将一个需要求解的九维问题降至三维，简化了数值求解的过程，并通过算例，验证了这种处理的可行性。
Based on the analysis of the structural characteristics of the beetle insect, the global polycyclic mechanism model of the insects traveling in the triangular gait was established. Because the structure of the mechanism is asymmetric 3-RRRS, the solution of body position and attitude is difficult. In this paper, a special mathematical process is used to reduce a nine-dimensional problem to be solved to three dimensions, which simplifies the process of numerical solution. Through an example, the feasibility of this process is verified.