Structure design of a four-dof （degree of freedom） man-portable caterpillar robot is proposed. The scheme reflectes the concept of modular design .The finished robot has the capabililty of immediancy modular disassembly or assembly and the advantage of convenient carry and maintenance

Miniturized and compactness design was applied to the scheme of robot’s mechanical structure research

the robot has the function of multi-attitude locomotion and the characteristic of impact resistance and drop proof.