The checking of the robot travelling mechanism friction coefficient and a design refinement of the driving structure is carried out based on theoretical calculation and rule of thumb data,facing the creeping phenomenon of the robot travelling mechanism. Taking the typical robot travelling mechanism that common used in the modern industry as examples,a description of its basic structure is carried out,aiming at the creeping phenomenon happened in the practical application,the checking of the friction coefficient of the heavy robot travelling mechanism is carried out based on the combination of inverse method and teaching-playing,also the reference experience value is elicited and the design refinement of the driving structure is finished.