Three-degrees-of-freedom parallel-connection impact-resistant humanoid mechanical foot

Abstract

The invention discloses a three-degrees-of-freedom parallel-connection impact-resistant humanoid mechanical foot and belongs to the field of humanoid robots. The three-degrees-of-freedom parallel-connection impact-resistant humanoid mechanical foot comprises a mechanical shank, a tarsal bone rod, a metatarsal bone rod, a toe, a tarsal bone impact pad, a tarsal bone spring, an arch-shaped sole plate, an instep face, a metatarsal bone upper spring A, a rubber column A and a rubber column B. The mechanical shank is connected with the tarsal bone rod through an ankle hinge. The two ends of the arch-shaped sole plate are connected with the two ends of a metatarsal bone plate through a metatarsal bone lower spring A and a metatarsal bone lower spring B correspondingly. The instep face is connected with the upper portion of the metatarsal bone rod through the metatarsal bone upper spring A and a metatarsal bone upper spring B. The tarsal bone impact pad is arranged at the bottom of the tarsal bone rod. The toe is connected with the left end of the instep face through a toe spring. The arch-shaped sole plate is an upward-convex type elastic thin plate. The two ends of the arch-shaped sole plate and the tarsal bone impact pad are in the same horizontal plane. The three-degrees-of-freedom parallel-connection impact-resistant humanoid mechanical foot is a parallel-connection mode humanoid robot foot which is reasonable in structure and has three degrees of freedom of motion and impact resistance.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a three-degree-of-freedom parallel anti-impact humanoid mechanical foot. Background technique [0002] With the development of science and technology and the improvement of people's quality of life, humanoid robots have received widespread attention and become one of the most active hot spots in the field of intelligent robots. In the humanoid robot structure, the design of the mechanical foot is particularly important, because when the humanoid robot walks, when the foot touches the ground, a certain impact force will be generated, which will cause the robot to lose balance or destroy the control system. . Existing humanoid robots have less degree of freedom of mechanical foot movement, which makes it difficult to truly simulate human foot walking, and lacks certain impact resistance. Therefore, it is of great significance to design a mechanical foot with more freedom of ...

AI Technical Summary

Problems solved by technology

In the humanoid robot structure, the design of the mechanical foot is particularly important, because when the humanoid robot walks, when the foot touches the ground, a certain impact force will be generated, which will cause the robot to lose balance or destroy the control system.

Existing humanoid robots have less freedom of movement of mechanical feet, it is difficult to truly simulate human foot walking, and they lack certain impact resistance

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