说明：  六足机器人是机电高度集成的仿生系统，它的动态性能由其结构系统与控制系统一起决定。为了提高六足机器人整体的动态性能，对六足机器人进行集成优化设计。描述六足机器人系统的结构；根据六足机器人机构的几何特征，讨论在优化过程中涉及到的设计变量、约束方程以及目标函数；对六足机器人系统进行集成优化建模。结合实例，分析比较六足机器人系统的数值仿真结果，结果表明，集成设计方法能够使系统获得更好的动态性能。
(Hexapod robot is a highly integrated bionic system, whose dynamic performance is determined by its structural system and control system. In order to improve the overall dynamic performance of the hexapod robot, the integrated optimization design of the hexapod robot is carried out. This paper describes the structure of the hexapod robot system, discusses the design variables, constraint equations and objective functions involved in the optimization process according to the geometric characteristics of the hexapod robot mechanism, and conducts integrated optimization modeling of the hexapod robot system. Combined with an example, the numerical simulation results of the hexapod robot system are analyzed and compared. The results show that the integrated design method can improve the dynamic performance of the system.)