The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enables the robot to walk with simple gait by very few motors. In the paper, the forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrain.

This research investigates the environmental characteristics of the saline lake in the Jiangling depression, southwestern Jianghan Basin from Paleocene to Eocene using bulk-rock geochemistry. The ratios of FeO/MnO, Al2O3/MgO and C-value indicate a semi-humid to semi-arid climate in the early-middle Paleocene. There was a rapid shift to a humid climate during the late Paleocene to early Eocene, following a short-time intense dryness. The Eocene climate was arid, but experienced intermittent humidity. The variation trend of CIA, CIW and PIA is similar to that of FeO/MnO, Al2O3/MgO and C-value, so the chemical weathering was influenced by climate changes. The redox conditions of lake in the Jiangling depression during Paleocene to Eocene were reconstructed using the ratios of U/Th, Ni/Co, and V/Cr. In the humidity and alternations of aridity and humidity, the lake water received external water input, resulting in weak stratification, so the sediments were in oxidation condition. In the aridity, lakes become a still water environments, leading to sediments formed in reduced condition. The salinity of the lake in Jiangling depression from Paleocene to Eocene was determined through the analysis of sedimentary sequences and the change of Sr/Ba ratio. In the early-middle Paleocene, the salinity of lake varied greatly. From the late Paleocene to the early Eocene, the salinity of lake decreased. In the Eocene, the salinity of the lake increased, and the halite precipitated, and finally the salinity of the lake decreased due to humid climate.