Four-degree-of-freedom hybrid shock-resistant mechanical foot for humanoid robot

Abstract

The invention discloses a four-degrees-of-freedom series-parallel impact resistant mechanical foot for a humanoid robot, which belongs to the field of humanoid robots. The four-degrees-of-freedom series-parallel impact resistant mechanical foot for the humanoid robot comprises a mechanical shank, a tarsal skeleton, an ankle shaft A, an ankle shaft B, a metatarsal skeleton, a toe, a toe joint, a sole, two compression resistant rubber columns, two tensile springs, a torsion spring B and a torsion spring A, wherein the toe joint is used for connecting the toe with the metatarsal skeleton; the torsion spring B is mounted between the toe and a metatarsal bone rod C; the torsion spring A is mounted between a tarsal bone rod C and a metatarsal bone rod A; the tarsal skeleton comprises a tarsal bone rod A, a tarsal bone rod B and a tarsal bone rod C; the metatarsal skeleton comprises a metatarsal bone rod A, a metatarsal bone rod B and a metatarsal bone rod C; the two tensile springs are mounted on the external sides of the two compression resistant rubber columns and always in a tensile and stressed state; the mechanical shank can rotate around the ankle shaft A; the ankle shaft B is orthogonal to the ankle shaft A; and the mechanical shank can realize twisting motion around the ankle shaft B. The invention is the humanoid robot foot with reasonable structure, impact resistance and four-degrees-of-freedom series-parallel mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a four-degree-of-freedom hybrid impact-resistant mechanical foot of a humanoid robot. Background technique [0002] As one of the hot spots in the field of intelligent robots, humanoid robots have structural characteristics more similar to humans, and have received widespread attention and attention. From the perspective of bionics, the prerequisite for realizing complex movements or postures of humans is the design of mechanical feet that imitate human feet. Although the mechanical foot of the prior art realizes a simple walking process, it cannot simulate the subtle movements of human beings when they encounter complex ground during walking, that is, they cannot resist the impact force generated during walking. Therefore, it is of great value to design a mechanical foot with four degrees of freedom of motion that can absorb impact energy through a hybrid structure. Cont...

AI Technical Summary

Problems solved by technology

Although the mechanical foot of the prior art realizes a simple walking process, it cannot simulate the subtle movements of human beings when they encounter complex ground during walking, that is, they cannot resist the impact force generated during walking.

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