Design and Research of a New Quadruped Mechanical Single-leg Prototype

As an important and basic component of a quadruped robot interacting with the external environment, the mechanical leg determines the core application performance of a robot such as walking speed, load capacity, and operational adaptability. Therefore, research on mechanical leg has important practical value and theoretical significance. This paper develops a new quadruped mechanical single-leg prototype, which has a novel knee motor arrangement and transmission mechanism. The novel transmission mechanism consists of a bevel gear train, a ball screw mechanism and a four-bar linkage. To be better promoted and used, the transmission mechanism is modeled and analyzed, and the influence of several important parameters of the mechanism on the torque and speed of motor is studied. Finally, the mechanical properties of the bearing structures are analyzed, and the results show that the structural strength can meet the design requirements.