摘  要
对于很多特殊地方，像危险性很大或我们难以到达的，比如拆除炸弹，未知探测等相应领域，对以上危险状况深入探寻通常需要机器人来实现。微小型步行机器人是机器人的一个重要分支，步行机器人与超过六英尺，八条腿的机器人相比，由于承载能力强，稳定性好，具有结构简单的优点，所以，全球大批研究者，开始普遍重视它。
本文主要以四杆机构作为主要执行元件来设计微小型步行四杆机构的整体方案。其原理为对角线同步，腿的活动由曲柄摇杆结构传递，左右前腿动作同等，它详细表现了连杆的弧线特点，当直线段为对等弧线运动轨迹时，机器人就在地上固定不动，当对角曲线的运动轨迹是斜斜线段时，机器人就做步行运动。该机器人主要由直流伺服电机驱动，从而通过曲柄摇杆机构带动同步带轮腿的动作。
关键词：微小型步行机器人；结构；四杆机构；曲柄摇杆

ABSTRACT
For a lot of special places, like the risk is very big, or we are difficult to reach, such as disarm bombs, unknown corresponding domains such as detection, probing deep of more dangerous situation usually need to implement the robot.It’s a main part of robot for micro pedipulator, walking robots and more than six feet, compared to the Eight Legged Robot, because of strong bearing capacity, good stability, which the meritss is simple construction, So, a large number of researchers around the world, start generally attach importance.
    This paper mainly to the four bar mechanism as the main execution elements to design of micro walking the whole scheme of the four bar mechanism. Its principle is diagonal synchronization, leg activity by the structure of the crank rocker, front leg movements around the same, it detailed performance curve characteristics of the connecting rod,when the curve trajectory diagonal straight line segment, the robot is stationary, the motion trajectory when the diagonal curve is slanting line do the walking motion, robot. The miniature walking robot is mainly driven by DC servo motor, so as to drive the leg action driven synchronous belt wheel by a crank and rocker mechanism. Key word: Micro walking robot；construction；four-bar linkage；crank-rocker