The invention relates to a
robot body modularization linkage device for a single-drive multi-
legged robot. The device comprises a main frame, double
parallelogram linkage mechanisms, hip mechanisms,
grippers, a connecting frame, a
crank, a power drive rod and a motor; both the
parallelogram linkage mechanisms are arranged at both the sides of the main frame; the hip mechanisms are connected with the
parallelogram linkage mechanisms by the
grippers; double the parallelogram linkage mechanisms are connected by the connecting frame or the
crank; the motor is connected with the
crank by the power drive rod; and the motor drives the power drive rod to rotate, the power drive rod drives the crank or the connecting frame to rotate, the crank drives both the parallelogram linkage mechanisms to reciprocate and the
reciprocating motion of both the parallelogram linkage mechanisms drives each hip mechanism to alternately move back and forth by the
grippers. Compared with the prior art, the
robot body modularization linkage device for the single-drive multi-
legged robot has the advantages of simple structure, optimization for foot end tracks,
high motion reliability and stability and the like.