Abstract: A new method is presented to compensate the fluctuation of the machine's center of gravity when its walking wheels run, e.g. balance compensation. The balance compensated mechanism is consist of a series of gears, has a high transmission efficiency. It can compensate both the fluctuation of the center of gravity and that of the speed if the parameters of the mechanism are suitable, and the machine' s comfort is improved. The gear ratio and characteristics of movement of the walking wheel are studied.

Key words: Kinetic analysis, Mechanism, Robot, Vehicle