(a) Structure diagram
(b) Kinematic diagram of mechanism
Figure 1: A novel biomimetic robotics hip joint virtual prototype. 1: trunk stent, 2: frame, 3: connectors A, 4: motor, 5: coupling, 6, 7, 9, 11, 14, and 17: revolute joint, 8: long rod, 10: short-bar, 12: connectors B, 13: frame connecting rod, 5: connecting rod, 16: moving platform, 18: rotation bracket, 19: end cover, and 20: screw.