Considering the special requirements for robot, a new type of mechanism which can avoid obstacles was developed. This mechanism can make robot not only run towards all direct ions in line without changing its posture o r rotate along definite angle at its original position, but also avoid the obstacles such as the window frame in its routine. This paper makes the new planetary gear robot as the research object. The work principle, motion design, structure design, motion analysis design and so on of the robot are introduced. The motion design of the robot, and then the structure design of the robot and its overall size design are completed. The movement analysis of the robot is also being finished
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