High-frequency series humanoid four-freedom-degree mechanical foot

Abstract

The invention discloses a high-frequency series humanoid four-freedom-degree mechanical foot, and belongs to the field of humanoid robots. The high-frequency series humanoid four-freedom-degree mechanical foot comprises a tarsal bone board, a metatarsal bone board, a toe, an ankle joint connecting the tarsal bone board with a mechanical crus, a tarsal bone joint connecting the tarsal bone board with the metatarsal bone board and a toe joint connecting the metatarsal bone board with the toe; the ankle joint comprises a first ankle gear shaft, a second ankle gear shaft, a first U-shaped frame, a first motor, an ankle rotation shaft, a bearing frame, a bolt and a fourth motor; the first ankle gear shaft is perpendicular to the ankle rotation shaft; the tarsal bone joint comprises a first tarsal bone gear shaft, a second tarsal bone gear shaft and a second motor; the first tarsal bone gear shaft is in mesh transmission with the second tarsal bone gear shaft, and an output shaft of the second motor is connected with one end of the first tarsal bone gear shaft; the toe joint comprises a first toe gear shaft, a second toe gear shaft, a third U-shaped frame and a third motor. The humanoid robot foot is reasonable in structure and better in humanoid effect and has four freedom degrees, the high-frequency motion characteristic and the series mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a high-frequency serial humanoid four-degree-of-freedom mechanical foot. Background technique [0002] At present, the research on humanoid robots has received widespread attention and has become one of the most active hotspots in the field of intelligent robots. Compared with traditional robots, the actions of humanoid robots are the closest to human actions, and they are more adaptable to human daily life environment. In the structure of the humanoid robot, the design of the mechanical foot is particularly important, because the humanoid robot not only imitates the movement process of the human foot, but also simulates the fast walking of human beings during the walking process. Although the mechanical foot of the prior art realizes the walking process, it still has certain disadvantages: less degrees of freedom and inability to realize fast and high-frequency walking. T...

AI Technical Summary

Problems solved by technology

Although the mechanical foot of the prior art realizes the walking process, there are still some shortcomings: the degree of freedom is too small and the fast and high-frequency walking cannot be realized

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