팬터그라프 기구를 이용한 3차원 수직 직교형 다리 기구를 가진 4각 보행로봇의 개발

A development of quadruped walking robot with 3-D orthogonal legs using pantograph mechanism

Because the leg mechanism of walking roblt affect on the mobility and energy efficiency, we focus on the design of new leg mechanism based on the previous leg mechanisms. We mention the deficiency of the previous leg mechanisms and propose a new leg mechanism that consists of a 2-d.o.f pantograph mechanism and a vertical linear actuator. The pantograph mechanism is attached to the horizontal plane of the body and the verical linear actuator is vertical to that plane. In order to design a quadruped walking robot, we consider the kinematics of the 2-d.o.f pantograph mechanism and the arrangement of twol linear motion guides that drive the pantograph mechanism.