Variable topological structure's quadruped robot mechanism

The utility model provides a variable topological structure's quadruped robot mechanism, includes truck unit and shank unit, the bottom of truck unit is connected with four shank units, the shank unit includes hip leg section, thigh leg section and shank leg section, between truck unit and the hip leg section, between hip leg section and the thigh leg section, is connected by the hookup semi -axis respectively, is connected with hip joint roll straight line hydraulic actuator between hip leg section and the truck unit between thigh leg section and the shank leg section, is connected with the sharp hydraulic actuator of thigh every single move between thigh leg section and the hip leg section, is connected the sharp hydraulic actuator of shank every single move between shank leg section and the thigh leg section. Every leg in this mechanism adopts the control of three sharp pneumatic cylinder, and the effectual leg motion inertia that has reduced makes shank unit module ization, effectual mutability and the lo