在实验室样机研制取得一定成果的基础上介绍一种新型机器人移动机构 ,该机采用四周履带驱动 ,并且多节串连 ,除可实现一般的直线移动和曲线移动外 ,还能在爬坡、越障、翻倒、翻滚、严重歪斜以致侧面受阻的状态下继续移动 ,故称四周履带式蛇形机器人。 Based on some achievements made in laboratory prototype, this paper introduces a new type of robot moving mechanism which is driven by four weeks of crawler tracks and connected in series and serially. In addition to the general linear movement and curve movement, Crossed, overturned, tumbling, serious skew so that the side of the blocked state continue to move, so called around the crawler type serpentine robot.