Two-degree-of-freedom series-parallel shock resisting mechanical foot of humanoid robot

Abstract

The invention discloses a two-degree-of-freedom series-parallel shock resisting mechanical foot of a humanoid robot, and belongs to the field of humanoid robots. The mechanical foot comprises a metatarsal plate, an ankle shaft and toe shafts mounted on the metatarsal plate, an ankle shaft gear mounted on the ankle shaft, an ankle power shaft engaged with the ankle shaft gear, an ankle motor connected with the ankle power shaft through an output shaft, parallel toes and toe shaft gears mounted on the ankle shaft, toe power wheels engaged with the toe shaft gears, toe motors connected with the toe power wheels through output shafts, calf springs for connecting mechanical calves with the metatarsal plate, and toe springs for connecting the parallel toes with the metatarsal plate; the ankle shaft gear is fixedly connected with the mechanical calves; the toe shaft gears are fixedly connected with the parallel toes; the ankle shaft can freely rotate on the metatarsal plate; and the toe shafts can freely rotate on the metatarsal plate. The humanoid mechanical foot is simple in structure, and has two degrees of freedom, shock resistance and a series-parallel mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a two-degree-of-freedom hybrid impact-resistant mechanical foot of a humanoid robot. Background technique [0002] With the improvement of people's quality of life, the field of humanoid robots replacing human work continues to expand, making humanoid robots one of the most active hot spots in the field of intelligent robots. Humanoid robots are completely designed according to the human body structure, so they are quite difficult to design. Among them, the mechanical foot imitating the human foot will generate corresponding vibration and impact when the foot touches the ground during walking, which will cause the robot to lose its balance. Therefore, it is of great significance to design a mechanical foot with simple structure and resistance to impact. Contents of the invention [0003] The technical problem to be solved by the present invention is: aiming at the techni...

AI Technical Summary

Problems solved by technology

Among them, the mechanical foot imitating the human foot will generate corresponding vibration and impact when the foot touches the ground during walking, which will cause the robot to lose its balance

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