Four-degree-of-freedom parallel humanoid low-frequency mechanical foot

Abstract

The invention discloses a four-freedom-degree parallel human-simulated low-frequency mechanical foot, and belongs to the field of human-simulated robots. The four-freedom-degree parallel human-simulated low-frequency mechanical foot comprises a tarsal bone frame, a tarsal bone plate A, a tarsal bone plate B, a toe, a pinion shaft B, a large gear shaft A, a pinion shaft A, a stepper motor A, a stepper motor B, an ankle motor B and an orthogonal ankle joint, wherein the tarsal bone plate A and the tarsal bone plate B are mounted in parallel; the toe is mounted on a large gear shaft B; the stepper motor A and the stepper motor B are mounted on the tarsal bone plate A; the ankle motor B and the orthogonal ankle are mounted on the tarsal bone frame; an output shaft of the tarsal bone motor B is connected with one end of an orthogonal ankle shaft A; an output shaft of the stepper motor A is connected with one end of the pinion shaft A; an output shaft of the stepper motor B is connected with one end of the pinion shaft B; the orthogonal ankle joint comprises the orthogonal ankle shaft A, an orthogonal ankle shaft B, an ankle shaft A frame, bolts and an ankle motor A in an orthogonal manner. The four-freedom-degree parallel human-simulated low-frequency mechanical foot is a human-simulated robot foot which is reasonable in structure and relatively good in simulation effect and has the characteristic of low-frequency movement and a four-freedom-degree parallel mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a four-degree-of-freedom parallel humanoid low-frequency mechanical foot. Background technique [0002] From the perspective of bionics, humanoid robots have the advantages of strong adaptability to the environment, flexible movements, etc., and have broader development prospects. When the humanoid robot in the prior art is walking, when the foot contacts the ground, corresponding vibrations will be generated, thereby causing the robot to lose balance. For humanoid robots to achieve a high degree of flexibility and simulate more complex movements and postures of humans, the structural design of mechanical feet is particularly important. Therefore, it is of great significance to design a low-frequency mechanical foot with four degrees of freedom. Contents of the invention [0003] The technical problem to be solved by the present invention is: aiming at the technical prob...

AI Technical Summary

Problems solved by technology

When the humanoid robot in the prior art is walking, when the foot touches the ground, it will generate corresponding vibrations, which will cause the robot to lose its balance

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