Cam linkage type four-foot walking machine

The invention provides a cam linkage type four-foot walking machine. Motion decoupling of thigh translation and shank swing is achieved through a two-way cam mechanism by adopting single driving force. The cam mechanism of each thigh part realizes leg translation motion, and the cam mechanism of each shank part realizes leg lifting motion. Certain corner phase differences exist among the four thigh cams so as to meet the phase change requirement of four-foot alternation. When one leg is in the leg lifting phase, an upper cam swing rod mechanism drives the shank to swing, and leg lifting movement is completed; when one leg is in a landing phase, a cam swing rod mechanism on the leg is in a rest period, so that the shank is kept upright. And one gait cycle is completed along with the sequential leg lifting of the four legs. According to the walking machine, the walking movement rule of each leg can be guaranteed, and three-foot supporting can be achieved at each moment in the walking process, so the walking mac