In recent years, the development of quadruped robots with both high-speed running and agility has been actively pursued. In the previous study, this kind of motion was achieved by improving the performance of the actuator. However, the leg mechanism itself has a simple structure in which a single motor drives a single joint, and the performance of a single motor has a great impact on the movement performance of the robot. In this paper, we propose a leg mechanism with parallel link mechanism by vertically mounted linear actuators to further improve the mobility of the robot. A set of the design parameters, which can satisfy the kinematic model of the robot running in a steady state, are investigated by mechanical analysis, and the characteristics of the leg mechanism are discussed.
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