A kind of
rope-driven mechanical leg based on rolling contact joint belongs to the field of
robot technology.All drivers are mounted on hip joint mounting plate, hip joint is fixed below hip joint mounting plate, hip joint is connected with
knee joint through upper connecting rod,
knee joint is connected with
ankle joint through two lower connecting rods,
knee joint,
ankle joint and two lower connecting rods form
parallelogram linkage structure;All joints use rolling contact joint, rolling contact joint is composed of two contact and rolling connecting rolling bodies, one end of hip joint active
rope is connected with corresponding driver, and the other end is connected with the rolling body of hip joint;
Knee joint and
ankle joint are each provided with two rolling contact joints, two rolling bodies of each rolling contact joint are connected using two constraint ropes;One end of knee joint and ankle joint active
rope is connected with corresponding driver, and the other end is connected with lower connecting rod by passing through the rolling contact joint of knee joint.The present application can optimize stress condition, reduce
wear and tear, and improve the service life of
robot.