Beijing Institute of Technology

Mingjie Zou

Chang Li

Qiang Huang

Shengjie Wang

Qing Shi

Mengchao Ma

Fukuda Toshio

A waist imitating device of robotic rat based on multiple-connecting-rod transmission comprises a pitch parallel connecting rod group () and a yaw parallel connecting rod group (). The pitch parallel connecting rod group () and the yaw parallel connecting rod group () are respectively connected with a front joint and a back joint of a waist of a robotic rat. Under the drive of a first motor (), crank connecting rods drive the yaw parallel connecting rod group () such that left-right yaw motion of the waist of the robotic rat relative to wheels and forelimbs can be achieved. Under the drive of a second motor (), crank connecting rods drive the pitch parallel connecting rod group () such that upper-down pitch motion of the waist of the robotic rat relative to the wheels and the forelimbs can be achieved.

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Mingjie Zou