Three-degrees-of-freedom series high-frequency mechanical foot for humanoid robot

Abstract

The invention discloses a three-degrees-of-freedom series high-frequency mechanical foot for a humanoid robot, which belongs to the field of humanoid robots. The three-degrees-of-freedom series high-frequency mechanical foot for the humanoid robot comprises an instep surface, a sole, a tarsal bone, a metatarsal bone, a metatarsal skeleton, a toe, an ankle shaft, an ankle gear A, an ankle gear B, an ankle motor, a tarsal bone shaft, a tarsal bone gear A, a tarsal bone gear B, a tarsal motor, a toe shaft, a toe gear A, a toe gear B and a toe motor, wherein the ankle gear B and the ankle gear A are respectively mounted on the tarsal bone and a mechanical shank; the tarsal bone gear B and the tarsal bone gear A are respectively mounted on the metatarsal bone and the tarsal bone; the toe gear B and the toe gear A are respectively mounted on the metatarsal bone and the toe; output shafts of the ankle motor, the tarsal motor and the metatarsal motor are respectively connected with the ankle gear B, the tarsal bone gear B and the toe gear B; the upper and lower ends of the metatarsal skeleton are respectively provided with the instep and the sole; and the metatarsal bone is mounted on the metatarsal skeleton. The invention is a humanoid robot foot with reasonable structure, three-degrees-of-freedom and high frequency response characteristic and series mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a three-degree-of-freedom series high-frequency mechanical foot of a humanoid robot. Background technique [0002] With the development of science and technology, the research of humanoid robot has become one of the most active hot spots in the field of intelligent robot. Compared with traditional robots, humanoid robots need to imitate the complex movements of humans in order to adapt to complex working environments. In the design of humanoid robot, the design of mechanical foot is particularly important, because it determines the movement speed, balance degree and anthropomorphic degree of the robot. Therefore, in order to better simulate human foot walking, it is necessary to increase the freedom of movement of the mechanical foot appropriately. The existing humanoid mechanical feet have the disadvantages of inflexible movement and unrealistic imitation. Therefore, it ...

AI Technical Summary

Problems solved by technology

Existing humanoid mechanical feet have shortcomings such as inflexible movement and unrealistic imitation

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