| 摘要 |
<p>The invention relates to a flat mechanism with hinged bars meant for the construction of the legs of walking robots. The mechanism comprises a first bar (1) linked to a framework (2) by a joint (3) and two bars (4 and 5) of equal lengths whose upper ends are articulated to the framework (2) while the lower ends are articulated to a bar (8) thereby forming a parallelogram. An articulation (9) includes a bar (11) whose upper end is articulated to the first bar (11) while the lower end is articulated to a bar (13) parallel to the bar (8). A bar (15) parallel to the bar (11) is articulated by its lower end to the bar (13) and by its upper end to the bars (5 and 8), thereby forming a second parallelogram. A shoe (17), with which the leg rests on the ground, is rigidly secured to the bar (13). The flat mechanism of the leg is driven by a linear hydraulic motor connected between the first bar (1) and the framework (2) and comprising a hydraulic cylinder (18) wherein a piston (19) travels. The flat mechanism of the leg is connected to the walking robot's body (22) by a cylindrical kinematic coupling (23) which allows it to move upwards and downwards along the coupling axis and to rotate about said axis in respect to said body (22).</p> |
