Three-degree-of-freedom parallel low-frequency humanoid mechanical foot

Abstract

The invention discloses a three-freedom-degree parallel low-frequency humanoid mechanical foot and belongs to the field of humanoid robots. The three-freedom-degree parallel low-frequency humanoid mechanical foot comprises a mechanical shank, a tarsal bone, a metatarsal bone board A, a metatarsal bone board B, a toe, an ankle joint, a tarsometatarsal joint and a toe joint. The mechanical shank is connected with the tarsal bone through the ankle joint. The tarsal bone is connected with the metatarsal bone board A and the metatarsal bone board B through the tarsometatarsal joint. The toe is connected with the metatarsal bone board A and the metatarsal bone board B through the toe joint. The right end of the tarsal bone is in a U shape, and the left end of the tarsal bone is in a rod shape. The ankle joint comprises an ankle shaft, a driving shaft A, a large gear A, a pinion A and a motor A. The tarsometatarsal joint comprises a tarsal bone shaft, a driving shaft B, a pinion B, a large gear B and a motor B. The toe joint comprises a toe shaft, a driving shaft C, a large gear C, a pinion C and a motor C. The humanoid mechanical foot is reasonable in structure, has three motion freedom degrees and a low-frequency 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 three-degree-of-freedom parallel low-frequency humanoid mechanical foot. Background technique [0002] At present, the research of humanoid robot has become one of the most active hotspots in the field of intelligent robot. This is because humanoid robots can better simulate the various movements of humans than traditional robots. In the structure of humanoid robot, the design of mechanical foot imitating human foot is particularly important. In order to better simulate the motion details of the human foot, the mechanical foot must have a considerable number of degrees of freedom to adapt to the walking process. Existing humanoid robots have less degrees of freedom in the movement of mechanical feet, and it is difficult to simulate the real walking details of human feet. Therefore, it is of certain significance to design a mechanical foot that walks slowly and simulates...

AI Technical Summary

Problems solved by technology

Existing humanoid robots have too few degrees of freedom for mechanical foot movement, making it difficult to simulate real human foot walking details

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