Active clutch mechanism and hopping robot having same

A hopping robot comprising:

• a sun gear connected to a motor and configured to be rotatable around a rotation shaft by receiving a driving power of the motor;
• a planetary gear arranged to come into contact with the sun gear and configured to revolve around the sun gear, and which rotates around a rotation shaft spaced apart from the rotation shaft of the sun gear;
• a winding gear selectively brought into contact with the planetary gear and configured to be rotatable by rotation of the planetary gear;
• a casing configured to accommodate the sun gear, the planetary gear, and the winding gear;
• a support plate including a coupling portion extending downward and installed at one end of the casing;
• first and second links, each of which having one end rotatably installed in the coupling portion;
• third and fourth links rotatably installed at the other ends of the first and second links, respectively, and including a contact portion at which one ends thereof are brought into contact with each other;
• a pulley connected to the winding gear to rotate with the winding gear;
• and
• a wire installed to be wound around the pulley and the contact portion to compress or stretch the first to fourth links,
• wherein when the sun gear is rotated in one direction, the planetary gear revolves around the sun gear in the one direction and comes into contact with the winding gear to rotate the winding gear so that the first to fourth links are compressed to store energy, and
• when the sun gear is rotated in a direction opposite to the one direction, the planetary gear revolves around the sun gear in the direction opposite to the one direction and is spaced apart from the winding gear to discharge the energy.