为解决四足机器人驱动单元功率密度低的问题,借助串联弹性机构的能量放大作用,设计出一款具有串联弹性、适用于四足机器人腿部构型的电驱动柔性关节,并据此柔性关节设计制作了具有柔性特性的四足机器人单腿样机.为研究柔性机械腿能量运用情况,提出一种简化的柔性单腿跳跃模型,对单次跳跃过程中从屈膝静止到跳离地面过程建立了运动学微分方程,应用解析法进行求解,分析了串联弹性能量放大作用在足式机器人中的应用,同时通过分析驱动单元功率曲线,揭示了能量放大实现机理.利用足式机器人单腿垂直跳跃实验平台完成单腿样机跳跃过程的初步实验,验证了柔性在四足机械腿中的能量放大作用. In order to solve the problem of low power density of four-legged robot driving unit, an electrically driven flexible joint with a series elasticity and a leg configuration of a four-legged robot is designed based on the energy amplification effect of a series elastic mechanism, A four-legged robotic single-legged prototype with flexible characteristics was designed and manufactured.In order to study the energy utilization of flexible mechanical legs, a simplified flexible one-legged jumping model was proposed to establish a single-legged jump model Kinematics differential equation and analytic method, the application of series elastic energy amplification in foot robot is analyzed, and the power amplification mechanism of driving unit is analyzed to reveal the mechanism of energy amplification.Using the single-leg vertical hopping robot The experiment of the platform to complete the single-legged prototype jumping process verified the energy amplification of the flexible four-legged mechanical leg.