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, which can generate a jumping force by using the cam movement of a rotary cam using a four-bar link structure and a drive motor and by using an elastic restoring force caused by the contraction of a jumping spring, a control method of the jumping force generating unit, and a jump robot using the same. The jumping force generating unit comprises: a first link member; a second link member which is connected to the first link member by a first link connection part and is supported on the ground; a third link member which is connected to the second link member by a second link connection part; a fourth link member which is connected to the third link member by a third link connection part and is connected to the first link member by a fourth link connection part; a jumping spring which connects the first link connection part and the third link connection part; a rotary cam which is rotatably coupled to the first link member; a drive motor which is provided on the first link member and rotates the rotary cam; and a drive link member which connects the second link connection part and the rotary cam. One end of the drive link member is linked to the second link connection part, and the other end of the drive link member is movable in the rotary cam to a free end.