摘  要
机器人工业是一个国家的重要产业，机器人工业的发展无时不刻都在影响着国家经济的发展，人类的进步离不开机器人工业的发展。在全球经济发展的大环境下，中国各个行业被其他国家的先进技术影响的同时，越来越多的外国企业和品牌传播到中国已经成为现实。在新的市场需求的推动下，对重心驱动式球形滚动机器人进行改良和优化是当务之急。有重心驱动式球形滚动机器人研究企业对该机器人的安全指标的有着一定生产的严格要求。在生产机器人的企业，充分考虑到在机器人运行中可能出现的问题，从而减少噪声污染引起的振动或不当操作设备的现象等。国内重心驱动式球形滚动机器人的研发及制造要与全球号召的高效经济、安全稳定主题保持一致。重心驱动式球形滚动机器人的发展与人类社会的进步和科学技术的水平密切相关。
 本文运用大学所学的知识，提出了重心驱动式球形滚动机器人的结构组成、工作原理以及主要零部件的设计中所必须的理论计算和相关强度校验，构建了重心驱动式球形滚动机器人总的指导思想，从而得出了该重心驱动式球形滚动机器人的优点是高效，经济，运行平稳的结论。
关键词：重心驱动式球形滚动机器人；结构；滚动；经济

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
目  录