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壁面移动机构是壁面移动作业机器人系统的关键组成部分．本文在壁面移动机构类型研究的基础上，阐述了作者在机器人壁面移动机构研究方面的进展．着重剖析了能在玻璃幕墙上进行全方位行走的多框架式机构的结构和承载能力计算方法．并将所研制的壁面移动机器人与国外同类壁面移动机构在主要性能上进行了比较．
The wall movement mechanism is a key part of the wall-movement robot system. Based on the study of the type of wall moving mechanism, this paper expounds the author’s research progress in the research of robot wall moving mechanism. It mainly analyzes the structure and carrying capacity calculation method of multi-frame mechanism which can walk in all directions on the glass curtain wall. And the developed wall-moving robot and its foreign similar wall-moving mechanism are compared in the main performance.