中文摘要：

在分析六履带机器人运动特性的基础上，利用模块化思想设计了由4个结构相同的摆臂单元和机体组成的侦查机器人，详细分析了机器人运动特性，介绍了机器人的传动设计和结构设计及其特点和实现的功能。该机器人具有良好的机动性能，具有平地行走、自撑起、涉水、越沟、越障等功能，且携带有声纳、图像和各种气体传感器，不仅可以应用于地面，还可以应用于各种事故后的废墟和地下等场合。

英文摘要：

Based on the moving character of six pedrails robot, the detecting robot with four uniform structures of swing-arms and bodywork was designed by means of modular design. The moving character was analyzed, the transmission and structure design, the character and function were introduced. The robot has good flexible property and possesses the functions of getting over obstacles, striding over ditches, paddling, pushing-up by itself , flat moving etc. The sonar sensor, image sensor and all sorts of gas sensor were setted on the robot. The robot can be applied on the aground and the ruins of various accidents, underground etc.