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该文主要研究了基于DSPTMSC8212的履腿式机器人的行走机构以及控制系统的设计.通过爬梯过程中的质心位置和此过程中的稳定性,推倒出爬梯高度公式.以模块化分工的方式对机器人进行合理设计,分析了其力学原理及运动特性,其中摆动模块在越障过程中起到了重要的作用,文章针对摆动模块分析了机械结构并论证了其机械设计的合理性、实用性,同时还给出了机器人控制部分的设计概况.该越障机器人可用于家庭、工业、航空等多个领域,具有广泛的前景.“,”In this paper,we mainly study on walking mechanism and designing of controlling system of the track-leg robot which based on DSPTMSC2812. By analyzing aspects of the change of center of mass during stair-climbing and stability of motion,give the final formula.According to modular division,We design the robot and analysis the mechanical movement and features principle, swing module in the process of climbing over obstacle play an important role. The article analyzed mechanical structure for swing module and demonstrated its mechanical design reasonably, practically, but also gives the robot design profile of control part . The robot can be used for the family, industrial, aviation and other fields, it has broad prospects.