Simulation robot shank mechanism

A simulation robot shank mechanism, comprising a shank assembly (1), an ankle assembly (2), and a foot plate assembly (3), wherein the shank assembly (1) comprises a knee joint power output structural member (4), a knee joint passive end structural member (5), a shank structural member (6), a first ankle joint drive motor (7), a second ankle joint drive motor (8), a first rocker arm swing member (9), and a second rocker arm swing member (10);

• the ankle assembly (2) comprises an ankle cross shaft member (11) and an ankle connecting rod (12);
• a knee joint drive motor (13) is arranged between the knee joint power output structural member (4) and the knee joint passive end structural member (5);
• a power output end of the knee joint drive motor (13) is connected to the knee joint power output structural member (4), and the other end of the knee joint drive motor (13) is connected to the knee joint passive end structural member (5);
• an upper portion of the shank structural member (6) is connected between a lower portion of the knee joint power output structural member (4) and a lower portion of the knee joint passive end structural member (5), a lower portion of the shank structural member (6) is connected to the ankle cross shaft member (11), and the ankle cross shaft member (11) is fixed above the foot plate assembly (3);
• a first motor mounting position (14) and a second motor mounting position (15) are formed on the shank structural member (6);
• the first ankle joint drive motor (7) is fixed to the first motor mounting position (14), a power output end of the first ankle joint drive motor (7) is connected to an upper portion of the first rocker arm swing member (9), and a lower portion of the first rocker arm swing member (9) is connected to one side of the ankle connecting rod (12);
• and
• the second ankle joint drive motor (8) is fixed to the second motor mounting position (15), a power output end of the second ankle joint drive motor (8) is connected to an upper portion of the second rocker arm swing member (10), and a lower portion of the second rocker arm swing member (10) is connected to the other side of the ankle connecting rod (12).