| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a leg mechanism for a robot capable of reducing drive torque and being applied to a complicated motion. <P>SOLUTION: The leg mechanism for the robot includes: a first parallel link mechanism 5 having third and fourth constituent links 23, 25 connected to other sides of first and second constituent links 19, 21 concentrically rotatably connected to a base 3; a second parallel link mechanism 7 having the shared fourth constituent link 23, a fifth constituent link 35, a sixth constituent link 37, and a seventh constituent link 39, and connected to the first parallel link mechanism 5 so that the second parallel link mechanism 7 intersects the first parallel link mechanism 5; and a third parallel link mechanism 9 comprising a link arm 41 for rotationally being interlocke with the fifth constituent link 35 around one side center, an eighth constituent link 51, a ninth constituent link 53, and the shared second constituent link 21, and additionally provided in the first parallel link mechanism 5. <P>COPYRIGHT: (C)2013,JPO&INPIT |
