Actuator, for articulated structures such as walking robots, uses screw and nut mechanism with attached sliding block having lateral movement and able to rotate

摘要

The actuator combines a screw and nut mechanism and a crank mechanism. A rail (11) parallel to the screw (3) serves as a slide for a carrier (7) associated with the nut (4) that runs on the screw. The carrier can also move transversely on the nut. The axis of articulation (17) of the pair of connecting rods (16) to the crank (19) can turn about a pivot (21). An Independent claim is also included for a member of the robot.