A Spatial Four-link 4R Biped Walking Mechanism

An untraditional application of the four-link 4R mechanism is proposed in this paper. It is used as a biped walking mechanism and is able to perform a gait similar to walk. It has only one degree of freedom and is driven by one actuator. It is a spatial closed chain mechanism which consists of four mechanical members and four revolute joints. Two mechanical members are used as feet, and the other two called the cranks move in the air. Mobility, walking principle and kinematic analysis are performed respectively, and a prototype is developed to verify the feasibility.