【正文】 e of states for reaction forces and for the optimum utilization of frication。 of dynamics for inertia, acceleration, and energy。 of elasticity and strength of materials for stress and deflection。 and of fluid mechanics for lubrication and hydrodynamic drives.Finally, a design based upon function and reliability will be pleted, and a prototype may be built. If its tests are satisfactory, and if the device is to produced in quantity, the initial design will undergo certain modifications that enable it to be manufactured in quantity at a lower cost. During subsequent years of manufacture and service, the design is likely to undergo changes as new ideas are conceived or as further analysis based upon tests and experience indicate alterations .Sales appeal, customer satisfaction, and manufacture cost are all related to design, and ability in design is intimately involved in the success of an engineering venture. overall constructions design Overall constructions design shows is six feet shifting mechanism overall construction diagram. This organization structure simpler, because the torso are partial and six feet, the tension bar and the direct current electric motor positions. If the race 1 and 3 connects by tension bar a。 The foot 4 and the foot 6 by the tension bar f connection, they may circle on the torso respective axle center to swing the certain angle in the horizontal plane。 The foot 2 and the foot 5 also by the tension bar connection, may circle on the torso the axle center to swing the certain angle in the vertical plane. Thus, the foot 1 and the foot 3as well as tension bar a and the body form a plane parallel four link motion gear。 The foot 4 and the foot 6 as well as tension bar f and the body form another plane parallel four link motion gear. This six feet shifting mechanism uses three sets of motordrivens, set of motordriven foot 1 and the foot 3, the second set of motordriven foot 4 and the foot 6, the third set of motordriven actuation foot 2and the foot 5, the relatively former each kind of walk organization ,this organization main characteristic is: Structure simple, gait novel, the control is easy to realize. Separately actuates three sets of electrical machinery movements to be allowed to realize the organization to walk in the ground by the different gait, function and so on realization advance, backlash, curve. gaits designsThe walk organization walks the way to divide into the static state to walk dynamically with walks two kinds. The static state walks the way is refers to the walk organization while to walk in the process throughout to have three above the foot。 The tendency walks the way is refers to except for this other to walk the way. More accurate saying ,the static state walks is refers to the walk organization in to walk in the process, its center of gravity always is in the stable strut plane. The strut plane is refers supports the polygon which between the foot poses. In order to obtain a better stability, this article designs divides into six feet two groups, after a bodily side front foot, the foot and another side center fully took a group, forms as table triangle strut. Two groups of fully in turn swinging with strut, realization organization migration.Theoretically says, six full organizations may supply the choice the gait to be more, but also should follow the general criterion: (1)chooses the gait to be supposed to conform to the animal to walk the custom. The experience and the theoretical analysis indicated that, the animal walks the way is in the nature most reasonable, these walk the way not only to be able to cause the walk organization to be balanced, moreover can cause the energy decrement which consumes to the lowest degree. (2) chooses the gait to be supposed to cause the control as far as possible simplicity, walks differently with the animal, the walk organization walks must join by the artificial control, if chooses in the gait existence control the difficulty even with difficulty to realize, the obvious significance is not big. The synthesis considered these two criteria as well as the organization whole constitution, walks the gait to the organization to make the following plan. advances walks the gaitTime six full organizations advances walks the gait like chart11 to show. After six full organizations start the movement, the first step, the foot 2 and the foot 5 swings an angle, causes left side of the body to lift, the foot 1, the foot 3 and the foot 5 is hanging, thefoot 2, the foot 4 and foot 6, and form a triangle to support the region. If walks in the process, this organization center of gravity throughout is located in this triangle, then six full organizations are at the steady state, as for does not throw down. The second step ,wears the place the foot 4 and the foot 6 relative bodies swings the certain angle to