Robot and transmission mechanism thereof

The invention discloses a robot and a transmission mechanism thereof. The transmission mechanism comprises two groups of rotating parts, wherein each group of rotating parts comprises a first rotating part and a second rotating part which are coaxially arranged; each of the two crankshafts comprises a connecting arm, and a first shaft body and a second shaft body which are arranged on two opposite sides of the connecting arm, and the axis of the first shaft body and the axis of the second shaft body are not collinear; the first shaft body is connected with the first rotating part and is eccentrically arranged relative to the first rotating part; the second shaft body is connected with the second rotating part and is eccentrically arranged relative to the second rotating part; the two ends of one first connecting rod are rotationally connected with the two first shaft bodies, and the two ends of the other first connecting rod are rotationally connected with the two second shaft bodies. By means of the mode, the transmission mechanism provided by the invention can transmit larger torque, the rigidity is higher, and the transmission precision is also improved.