| 摘要 |
PROBLEM TO BE SOLVED: To provide a quick return approximated parallel displacement mechanism at a low-cost applicable even to a model or toy, embodied as legs of a four-leg walking robot which makes approximated parallel displacement in three quarters of its motion cycle and returns to the starting point upon separating from an approximated parallel line in the remaining quarter. SOLUTION: Crank shafts 1 and 2 rotating at the equal speed in the same direction are installed in parallel, and one end of a crank arm 3 is attached to the end of the crank shaft 1 while one end of a crank arm 4 is attached to the end of the crank shaft 2, and the rotational phases of the crank arms 3 and 4 are dislocated in 180 degrees, and one-side ends of links 5 and 7 are coaxially attached to the other end of the crank arm 3 in such a way as directed down from the crank shafts 1 and 2 while one-side ends of links 6 and 8 are coaxially attached to the other end of the crank arm 4, and one end of a link 9 is coaxially attached to the other ends of the links 5 and 8 while one end of a link 10 is coaxially attached to the other ends of the links 6 and 7, and the other ends of the links 9 and 10 are borne by the shaft.
|
