A Jumping Mechanism of Single-legged Robot with Connecting Rod Transmission
A connecting rod transmission and robot technology, applied in the field of robots, can solve the problems of only jumping in place and weak energy storage effect, and achieve the effects of improving stability and agility, reducing energy consumption, and reducing moment of inertia
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[0045] Such as Figure 1~4 As shown, a link-driven single-leg robot jumping mechanism includes a fuselage 1, a thigh 2 and a calf 3 that are hinged in sequence. The thigh is provided with a jumping drive device that drives the leg to rotate and a directional drive device that drives the thigh to rotate.
[0046] Such as figure 2 As shown, the fuselage 1 includes a base 20, a balance flywheel 16 connected to the base and a gyroscope 23 fixed on the base, and a flywheel motor 19 and a flywheel reducer 18 that cooperate with each other are also fixed on the base, The output shaft of the flywheel reducer drives the balance flywheel to rotate through the synchronous belt 17. The base 20 is also provided with two side splints 22 arranged symmetrically. The side splints are fixed as a whole through the clamping tube 21. Each side splint includes an adapter plate hinged with the thigh. The two adapter plates are directly fixed with First series elastic drive 6 .
[0047] Such as ...
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