Four-freedom-degree series-parallel damping mechanical foot for humanoid robot

Abstract

The invention discloses a four-degree-of-freedom mixed vibration-damping mechanical foot of a humanoid robot, which belongs to the field of humanoid robots. It includes mechanical calf, ankle joint axis A, ankle joint axis B, tarsal skeleton, metatarsal skeleton, tarsal metatarsal joint, toe joint and parallel toes; tarsal skeleton is a triangular frame structure, including tarsal rod A, tarsal rod B and tarsal rod Bone bar C; metatarsal frame is a triangular structure composed of metatarsal bar A, metatarsal bar B, and metatarsal bar C; toe joints connect parallel toes, metatarsal bar B, and metatarsal bar C; tarsal metatarsal joints connect metatarsal bar A, metatarsal bar C, Tarsus bar A and tarsal bar C; a torsion spring is installed between the parallel toes and the metatarsal bar B, a damping spring A is installed between the toe joint and the hinge on the tarsal bar A, and the tarsal metatarsal joint and the mechanical calf A damping spring B is installed between them. The invention is a humanoid robot foot with reasonable structure, good humanoid effect, four degrees of freedom of movement, vibration damping function and mixed mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a four-degree-of-freedom hybrid vibration-damping mechanical foot of a humanoid robot. Background technique [0002] In the 21st century, bionics has received extensive attention. As a research field of bionics, humanoid robot has become one of the hot spots in the field of intelligent robot. From the perspective of bionics, the structure of the mechanical foot determines the fidelity of various actions of the humanoid robot. Although the mechanical foot of the prior art realizes simple walking function, due to the lack of freedom of movement, it cannot better simulate the subtle movements of the human foot when walking on uneven ground, and thus cannot realize automatic vibration reduction. Therefore, there is an urgent need to design a mechanical foot that is more in line with the law of human foot movement. Contents of the invention [0003] The technical problem to ...

AI Technical Summary

Problems solved by technology

Although the mechanical foot of the prior art realizes the simple walking function, due to the lack of freedom of movement, it cannot better simulate the subtle movements of the human foot when walking on uneven ground, and thus cannot realize automatic vibration reduction

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