| 摘要 |
The present invention relates to a device for the relative movement between a solid (S) and a member (T) which can be used in particular for a robot able to be moved on legs. The transmission system is exclusively composed of bars joined together at at least two points (1,3) to the solid and at two points (2, 12) to the member (T). A principal system (X) may be distinguished as a system with a degree of freedom and constituted in such a way that one circular movement of a member (M) driven by a motor is expressed by a horizontal rectilinear movement of one point (2) linked to the member, as well as an additional system (R4, R5, R6) which follows the movements of the previous system and which is also connected to the solid and the member so as to keep this member vertical.
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