Research on Leg Transmission Mechanism of Quadruped Robot

In order to enhance the movement ability and bearing capacity of quadruped robot, a flexible leg of Quadruped Robot Based on double rope sheave transmission mechanism is proposed. The kinematics equation of flexible leg of quadruped robot is established, and its forward solution and motion space are obtained. The simulation model of quadruped robot flexible leg is established, and the changes of joint output torque and foot angular velocity are measured. It is concluded that the proposed new quadruped robot flexible leg has high load, strong obstacle crossing ability and movement stability.