This omni directional mechanism can make the wall climbing robot not only run towards all direction in line without changing its pose or rotate definite angle at its original place but also overstep the obstacles such as the window frame in its routine. 该机构不仅能够使机器人在保持机体方位不变的前提下沿壁面任意方向直线移动或在原地旋转任意角度,而且能够跨越存在于机器人运行路径中的不可避免的障碍,如壁面上的窗框等。