Patent ID: 11945271
Assignee: YANSHAN UNIVERSITY
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 1:
2. The vertical rigid-flexible coupling multi-degree-of-freedom walking position-adjusting leg unit according to claim 1, wherein an axis of the moving pair Pz2 is parallel to an axis of the moving pair Pz1, an axis of the rotating pair Rz and an axis of the first spring device; an axis of the rotating pair Rx is perpendicular to an axis of the rotating pair Rz, an axis of the rotating pair Ry1 and an axis of the rotating pair Ry2; the axis of the rotating pair Ry1 is coincident with the axis of the rotating pair Ry2; and the moving pair Pz1 is connected in parallel with the first spring device, and the moving pair Pz2 is connected in series with the first spring device.