The invention discloses a parallel four-degree-of-freedom leg mechanism of a walking robot. The leg mechanism comprises a frame, a thigh rod, a shank rod, a thigh rotating mechanism and a shank rotating mechanism, wherein the frame is connected with the walking robot; the thigh rod and the shank rod are sequentially arranged under the frame from top to bottom; one end of the thigh rod is hinged to the frame; one end of the shank rod is hinged to the other end of the thigh rod; one end of the thigh rotating mechanism is mounted on the frame in a sliding manner; the other end of the thigh rotating mechanism is hinged to the middle of the thigh rod; one end of the shank rotating mechanism is mounted on the frame in a sliding manner; the other end of the shank rotating mechanism is hinged to the end part, close to the thigh rod, of the shank rod. The leg mechanism disclosed by the invention has good dynamic performance, and solves the problems that an existing serial joint is poor in stiffness, high in energy consumption, and poor in dynamic performance; besides, the problem that the torque of rotary direct driving force is not enough at present is solved.
Parallel four-degree-of-freedom leg mechanism of walking robot
2016-01-06
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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