ACTUATOR DESIGNED FOR ARTICULATED STRUCTURES, SUCH AS WALKING ROBOT LIMBS

摘要

The invention concerns an actuator which consists of a combination of a pin-and-nut system (3, 4) and rod-and-crank system (16, 19) completed by fittings for correcting defects in the mounting or parts and prevent the occurrence of internal stresses: a rail (11) whereon slides a carriage (7) associated with the pin is laterally mobile, and the carriage is mobile on the pin in the other transverse direction; and the hinge pin (17) of the rods (16) connected to the crank (19) can rotate about a pivot pin (21). Said light actuator is particularly suited for the legs of a two-legged robot.