Single-power dual-gait creeping six-bar mechanism

The invention relates to a single-power dual-gait creeping six-bar mechanism, in particular a mechanism that moves through rotation of rods and through line-symmetric Bricard mechanism as a basic structure. The single-power dual-gait creeping six-bar mechanism is a single closed chain and is composed of an arc rack bar, a motor seat, a motor, a flange coupling, a driving bar, a driving bar rotaryshaft, a first transmission bar, a first transmission bar rotary shaft, a second transmission bar, a second transmission bar rotary shaft, a third transmission bar, a third transmission bar rotary shaft, a fourth transmission bar, a fourth transmission bar rotary shaft, a bearing block and a weight; the bars are connected through axially perpendicular revolute pairs; the single motor drives the mechanism to move; the second transmission bar and the arc rack bar are mainly in contact with a ground to generate forward or reverse friction so that the whole mechanism is moved. The single-power dual-gait creeping six-bar m