Two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with central spherical pair

Abstract

The invention discloses a two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with a central spherical pair. The bionic ankle joint is mainly characterized in that: a straight output rod is fixed below a supporting hemispherical nest, a bulb is arranged in the straight output rod, the upper part of the bulb is connected with a columnar body bracket push rod, and the push rod is provided with a through hole, the section of which is rectangular; an outer tooth semicircular fork passes through the through hole, and the lower end of the outer tooth semicircular fork is connected with the supporting hemispherical nest; two ends of a supporting roller are placed in the through hole of the body bracket push rod, and the supporting roller is contacted with the circular inner surface of the semicircular fork; a support is arranged outside the body bracket push rod, a lead screw is arranged on the support, and a sliding block is arranged on the lead screw; the sliding block is connected with the upper end of a pull rod through an upper composite hinge fork frame; the upper composite hinge fork frame is connected with the upper end of the pull rod; and the lower end of the pull rod is connected with the outer wall of the supporting hemispherical nest through a lower composite hinge fork frame. The structure is simple and compact, and the motion of limbs is faster,flexible, smooth and continuous, so that the shape, the structure, the motion, the mechanics and the function of the bionic ankle joint are furthest close to the actual conditions of the human beings.

Description

technical field [0001] The invention relates to a humanoid robot, in particular to a bionic ankle joint of a humanoid robot. Background technique [0002] At present, people have developed a large number of various humanoid robots all over the world. Examining the existing humanoid robots, it is found that their body configurations are almost all serial configurations, that is, the multi-degree-of-freedom joints of the robot are composed of multiple single rotating pairs (or moving pairs) connected in series. This series configuration is relatively easy to realize in terms of control, and has a simple structure, but there are serious defects: the weight of the lower-level driver often becomes the load of the upper-level driver, thereby reducing the driving capacity; 1. Ankle joint, its movement function is only equivalent to that of human beings in a few specific directions (driver axis), and there are obvious decomposition movements in other directions, and its flexibility...

AI Technical Summary

Problems solved by technology

This series configuration is relatively easy to realize in terms of control, and has a simple structure, but there are serious defects: the weight of the lower-level driver often becomes the load of the upper-level driver, thereby reducing the driving capacity; 1. Ankle joint, its movement function is only equivalent to that of human beings in a few specific directions (driver axis), and there are obvious decomposition movements in other directions, and its flexibility, accuracy and stability are far behind human beings; The series joints of the kinematic pair occupy a large space and have low stiffness; the functions of the limbs are not complete, and it is not ideal for reasonably compensating the movement, adjusting the balance of the robot, completing the attitude change, and ensuring the stability of the robot's operation.

[0005] The configuration of existing humanoid robots is mainly in a single series form, and some limited parallel joints are unsatisfactory in terms of complex structure, performance, and technical indicators. The gap can not fully meet the actual needs

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