The analysis and calculation of the step of parallel mechanism leg of biped robot

In this paper a structure of parallel mechanism leg of biped robot is proposed by analyzing the actualization of the walking function of human being. The mechanism is close to the form of the musculature of human being. The step of parallel mechanism leg is analyzed and the method of calculating the step is brought for-ward. And an example for calculating the step of parallel mechanism leg by applying concrete structure parameters is presented. The results indicate that the step of robot is related to the length of chain of parallel mechanism l, the radii of top and foot platform R-b and R-B, the radial structure angle between the sphere joints phi(1) and phi(2), the corner of sphere joint a. So it is needed to synthetically optimize the design for obtaining the proper step. It can instruct the research and design of parallel biped robot that the mentioned method to calculate the step.