UNIT FOR GENERATING JUMPING POWER AND CONTROLLING METHOD OF THIS AND JUMP ROBOT USING THE SAME

摘要

The present invention relates to a jumping force generating unit capable of generating a jumping force by using a four-bar linkage structure, a cam movement of a rotation cam using a drive motor, and an elastic restoring force caused by contraction of the jumping spring, and a control method of the jumping force generating unit. And a jump robot using the robot. The jumping force generating unit includes a first link member, a second link member connected to the first link member by the first link connecting portion and supported on the ground, and a second link member connected to the second link member by the second link connecting portion. A fourth link member connected to the third link member by the third link connection portion and connected to the first link member by the fourth link connection portion, and a fourth link member connected to the third link link portion by the fourth link link portion, And a drive link member provided on the first link member for connecting the drive cam and the second link connection portion to the rotation cam, One end of the link member is linked to the second link connection portion, and the other end of the drive link member is movable in the rotation cam to the free end.