Archimedes spiral arc leg driving structure for robot walking

The Archimedes spiral arc leg driving structure comprises an output shaft connecting section, the output shaft connecting section is of a circular and rectangular combined annular structure, an annular through hole is formed in the annular inner side of the annular structure, and the outer side of the annular structure is consistent with the outline of the annular through hole; the circular side of the annular structure is in smooth transition with one end of the Archimedes spiral section, the circle center of the outline of the Archimedes spiral section is located at the circle center O of the annular through hole, and the other end of the Archimedes spiral section is an arc section. The problems that an existing wheel-leg composite driving structure is complex in shape, and walking is unstable and gravity center fluctuation is large due to eccentricity of the circle center of a composite leg and a robot driving shaft are solved. The structure smoothly transits the torque of the power output shaft of the rob