微小管道机器人能够帮助人们完成诸如小口径管道内检测等工作 ,其移动机构是机器人研究领域重要的研究内容之一。在分析研究行星齿轮驱动的微型机器人移动机构的运动学和动力学特性的基础上 ,详细讨论了移动机构的原理、功能及影响因素。研究表明 ,通过提高移动机构车轮的附着性和驱动力 ,减小寄生功率的影响 ,可较好地实现该微型机器人驱动 Micro-pipeline robot can help people to do such as small-diameter pipeline inspection work, the moving mechanism is one of the important research areas of robotics. Based on the analysis of the kinematics and dynamics of the planetary gear-driven micro-robot moving mechanism, the principle, function and influencing factors of the moving mechanism are discussed in detail. The research shows that the micro-robot can be driven well by improving the adhesion and driving force of the wheels of the moving mechanism and reducing the influence of parasitic power