抄録
In this paper, we propose a cross link mechanism with variable reduction ratio. This mechanism, which consists of the crossed links with different lengths, is used to drive a knee joint of two-legged robots. We can get variable reduction ratio by using it. We use the parameters that give high reduction ratio when a knee joint is flexed. Then this cross link mechanism can reduce static torque necessary for two-legged robot's flexion and extension. As a result, reduction ratio of the actuator is reduced, and the performance for motion is improved.
