Closed-chain single-degree-of-freedom five-rod leg mechanism

• Main Authors: HAN ZEXU, PEI XU, DUAN JINJIAN, WANG SHIHONG
• Format: Patent
• Language: Chinese; English
• Published: 03.01.2020
• Subjects: LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; TRAILERS; TRANSPORTING

The invention discloses a single-degree-of-freedom five-rod leg mechanism, and relates to the technical field of walking robots. The single-degree-of-freedom five-rod leg mechanism comprises a crank,a guide rail rod, a leg rod, a middle connecting rod, a machine frame and a positioning piece, wherein the externally applied power enables the crank 1 to rotate at a constant speed, and the contact end of the leg rod can output a tongue-hat-shaped connecting rod curve, so that a walking motion resembling animals can be achieved. By adopting the leg mechanism, a walking function of a walking robotis achieved, and the advantages of stable operation, simple control, convenient assembly and maintenance and low cost can be realized. 本发明公开了一种单自由度五杆腿机构，涉及步行机器人技术领域，包括：曲柄、导轨杆、腿杆、中间连杆、机架和定位件；外部施加动力使曲柄1匀速旋转，腿杆的触地端可以输出鸭舌帽形的连杆曲线，可实现类似动物的步行运动。利用本发明的腿机构实现步行机器人的行走功能，有运行平稳、控制简单、装配维护方便和成本低的优点。