Vertical actuator mechanism for the legs of a walking machine
US4502556A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Mar 18, 1983 |
| Grant date | Mar 5, 1985 |
| Priority date | — |
| Expiry date | Mar 18, 2003 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/02
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A vertical actuator mechanism for the legs of a walking machine, including four links arranged in a pantograph mechanism, with one corner of the pantograph providing the main mounting point for each leg, which permits the use of swinging links in the vertical actuator mechanism and retains complete isolation between the vertical and horizontal drive mechanisms. Vertical actuation of the pantograph mechanism is accomplished by means of a pair of long, swinging struts connected between a drive nut mounted on a lead screw and a point on the pantograph mechanism. The struts are connected to the pantograph mechanism at a location other than the true pantograph point, the point being selected so that the foot moves approximately linearly as the strut pivots around the drive nut.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.