| 摘要 |
<p>Walking mechanism for a robot, as well as a robot equipped with the walking mechanism walking mechanism (61) for a robot comprises two brackets (63, 65) each having two legs (67 - 73) which are rotatably connected to shoulder elements (83, 85). These shoulder elements are fitted to straight arms (87, 89) which are arranged at right angles to the shoulder elements. The free ends of the arms are connected to each other via a universal joint (9). The universal joint (91) comprises two U-shaped forks (93, 95) which are connected to each other via a cross of two shafts (97, 99) arranged at right angles to each other. The walking mechanism (61) is equipped with three motors for executing the necessary rotations for moving on. Motor (101) is capable of rotating the fork (93) around the shaft (97) of the cross. Motor (102) is capable of rotating the other fork (95) around the other shaft (97) of the cross. And motor (103) is capable of rotating the first bracket (63) around an imaginary axis (105) running parallel to the centre line of the first fork.</p> |
