Abstract：Considering the special requirements for wall climbing cleaning robot, a new type of omni-directional mechanism which can avoid obstacles was developed. This omni-directional mechanism can make the wall-climbing robot not only run towards all directions in line without changing its posture or rotate along definite angle at its original position, but also avoid the obstacles such as the window frame in its routine.
 Yoshikazu MORI etc. Mechanism and Running Modes of New Omni-Directional Veh icle ODV9. JSME International Journal Series C, 1999,42(1): 21 0-217  黄建军. 多方位运动车辆及其车轮. 发明专利申请公开说明书 CN 1073636A  Tadao KAGIEADA. Robot Design for Stair Navigation. JSME International Journ al Series C, 1996,39(3): 629-635  胡来榕等. 行星传动设计和计算. 机械工业出版社, 1997