A
simulation robot leg mechanism is provided with a leg crossing driving
assembly, a
thigh assembly, a
knee joint driving motor, a shank
assembly, an
ankle assembly and a foot plate assembly. The upper end of the
thigh assembly is connected with the
power output end of the leg-striding driving assembly; the lower end of the
thigh assembly is connected with the
knee joint driving motor, the
power output end of the
knee joint driving motor is connected with the upper end of the shank assembly, and the lower end of the shank assembly is connected with the
ankle assembly which is connected with the foot plate assembly. The thigh assembly comprises a striding and swinging output structural member, a striding and swinging driven end structural member, a leg rotation driving motor and a leg extending member; the shank assembly comprises a knee joint
power output structural part, a knee joint passive end structural part, a shank structural part, a first
ankle joint driving motor, a second ankle joint driving motor, a first
rocker arm swinging part and a second
rocker arm swinging part. The ankle assembly comprises an ankle cross shaft piece and an ankle connecting rod. The three-degree-of-freedom parallel
robot is high in
layout compactness and high in joint integration degree, a large movement range of the
robot can be achieved, and flexibility and universality are improved.