本文介绍了一种新型足－掌机构，利用该机构可以解决多足爬壁机器人从地面向壁面过渡行走的难题．通过对机构的运动学正、逆问题的求解，推导出足端的工作空间以及可达的极限位置，同时对机构进行了受力分析，为规划多足爬壁机器人地壁过渡行走、机构参数的选择以及优化设计提供了理论依据 In this paper, a new type of foot-palm mechanism is introduced, which can solve the difficult problem that multi-footed wall-climbing robots transition from ground to wall. Through solving the kinematic positive and inverse problems of the mechanism, the working space at the foot end and the reachable limit position are deduced. At the same time, the force analysis of the mechanism is carried out. In order to plan the transitional movement of the wall of the multi-footed climbing robot, the choice of mechanism parameters As well as to optimize the design provides a theoretical basis