【正文】 s its objective satisfactory or superior performance, plus safety and durability with minimum weight, and a petitive cost. Optimum proportions and dimensions will be sought for each critically loaded section, together with a balance between the strength of the several ponents. Materials and their treatment will be chosen. These important objectives can be attained only by analysis based upon the principles of mechanics, such as those of states for reaction forces and for the optimum utilization of frication。The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system. In this driving system, openloop control system is posed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality. On this basis，the analysis of stepping motor in power calculating and style selecting is also given.The walk organization because it is opposite to the ordinary wheeled organization has many unique superiority, obtains the widespread application in more special domains. At present unceasingly appears on he market by the new multi groups walk organization, their mostly intellectualization degree higher, the organization and the control is plex.The people frequently must draw support to the walk organization research to animal39。39。英文資料One kind of simple foot like migration robotRobot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, microelectronics and puter, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are e into being. The practicality use of robot products not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. At present, the research and development of robot involves several kinds of technology and the robot system configuration is so plex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development.With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and plex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration bines the character of direction coordinate and the arthritis coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and plete the necessary movement. In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission ratio. Both of the transmission mechanisms have a characteristic of pact structure. The design of drive system often is limited by the environment condition and the factor of cost and technical lever. 39。39。39。s careful observation and the movement mechanism analysis. We note, insect when smooth unimpeded terrain surface barrel, are many by in turn triangle gait movement, namely six feet will divide into two groups, the bodily later around foot and the opposite side center fully respectively took a group, will form a stable triangle strut. Two groups of legs in turn swinging with strut ,realization insect39。 of dynamics for inertia, acceleration, and energy。 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