Two-degree-of-freedom parallel high-frequency mechanical foot of humanoid robot

Abstract

The invention discloses a two-degree-of-freedom parallel high-frequency mechanical foot of a humanoid robot, and belongs to the field of humanoid robots. The two-degree-of-freedom parallel high-frequency mechanical foot comprises metatarsal bones, a driving shaft, an ankle joint shaft, a gear B arranged on the ankle joint shaft, a gear A arranged on the driving shaft, a toe shaft, parallel toes arranged on the toe shaft, a toe joint motor and an ankle joint motor, wherein the metatarsal bones comprise a metatarsal bone A and a metatarsal bone B which are parallel to each other; a shank rod is arranged on the ankle joint shaft; the ankle joint motor is arranged on the metatarsal bone B; an output shaft of the ankle joint motor is connected with one end of the ankle joint shaft; the toe joint motor is arranged on the metatarsal bone B; an output shaft of the toe joint motor is connected with one end of the toe shaft; and the parallel toes comprise a hallux, a second toe, a third toe, a fourth toe and a little toe which are sequentially arranged on the toe shaft. The two-degree-of-freedom parallel high-frequency mechanical foot of the humanoid robot is a humanoid robot foot which is reasonable in structure, has two degrees of freedom and high-frequency dynamic response characteristic, and is in a parallel mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a two-degree-of-freedom parallel high-frequency mechanical foot of a humanoid robot. Background technique [0002] With the development of science and technology, humanoid robots have gradually become a hot spot in the field of robot research, and the market prospect of this type of robots is broad. Due to the complex structure of the human body, it is quite difficult to realize a real humanoid robot, especially the research on the mechanical foot is more important, because when the humanoid robot walks, when the foot touches the ground, there will be corresponding movement, it is easy to cause the robot to lose its balance. Although the existing mechanical feet have certain stability, due to the series structure, the dynamic response frequency is low, and it is difficult to realize the real human foot imitation. Therefore, it is of great significance to design a mechanica...

AI Technical Summary

Problems solved by technology

Due to the complex structure of the human body, it is quite difficult to realize a real humanoid robot, especially the research on the mechanical foot is more important, because when the humanoid robot walks, when the foot touches the ground, there will be corresponding movement, it is easy to cause the robot to lose its balance

Although the existing mechanical feet have a certain degree of stability, due to the series structure, the dynamic response frequency is low, and it is difficult to realize the real human foot imitation.

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