Four-degree-of-freedom hybrid high-frequency mechanical foot for humanoid robot
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A technology of humanoid robot and degree of freedom, which is applied in the field of humanoid robot, can solve the problems of less freedom of movement, low frequency of dynamic response, loss of meaning of human imitation, etc., and achieve high-frequency characteristics, reasonable structure, and detailed imitation Effect
Active Publication Date: 2018-06-29
上海韦航装备科技有限公司
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However, due to the less freedom of movement of the mechanical foot and the low frequency of dynamic response, it is impossible to realize the fast walking of human beings, thus losing the real meaning of human imitation
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[0013] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0014] see figure 1 As shown, the four-degree-of-freedom hybrid high-frequency mechanical foot of the humanoid robot of the present invention includes a mechanical lower leg 1, a tarsal frame 2, a metatarsal frame 3, parallel toes, an ankle joint, a tarsal metatarsal joint, and a metatarsophalangeal joint; the mechanical lower leg 1 passes through The ankle joint is installed on the right end of the tarsal frame 2, the left end of the tarsal frame 2 is connected with the right end of the metatarsal frame 3 through the tarsal-metatarsal joint, and the left end of the metatarsal frame 3 is connected with the parallel toes through the metatarsophalangeal joint; The big toe 41 on the pinion shaft 70, the second big toe 42, the third big toe 43, the fourth big toe 44 and the little big toe 45.
[0015] see figure 1 As shown, the metatars...
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Abstract
The invention discloses a four-freedom-degree series-parallel high-frequency mechanical humanoid robot foot, and belongs to the field of humanoid robots.The foot comprises a mechanical shank, a tarsal skeleton, a metatarsal skeleton, parallel toes, an ankle joint, a tarsometatarsal joint and a metatarsophalangeal joint; the mechanical shank is installed at the right end of the tarsal skeleton through the ankle joint, the left end of the tarsal skeleton is connected with the right end of the metatarsal skeleton through the tarsometatarsal joint, and the left end of the metatarsal skeleton is connected with the parallel toes through the metatarsopphalangeal joint; the parallel toes comprise the big toe, the second toe, the third toe, the fourth toe and the small toe, the metatarsophalangeal joint comprises a big toe gear shaft, a small toe gear shaft, a fourth motor frame and a fourth motor, the tarsometatarsal joint comprises a small metatarsal bone gear shaft, a big metatarsal bone gear shaft, a third motor frame and a third motor, and the ankle joint comprises a small ankle gear shaft, a big ankle gear shaft, a second motor, an ankle rotating shaft, a flange plate and a first motor.The humanoid robot foot is reasonable in structure, has four motion freedom degrees and the high-frequency motion characteristic and is in a 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 mixed high-frequency mechanical foot of a humanoid robot. Background technique [0002] With the development of science and technology and the progress of human beings, the research of humanoid robots has been widely valued. Compared with traditional robots, humanoid robots can better imitate human actions and adapt to human daily life environment better. However, due to the less freedom of movement of the mechanical foot and the low frequency of dynamic response, it is impossible to realize the fast walking of human beings, thus losing the true meaning of human imitation. Therefore, it is of great significance to design a mechanical foot with high-frequency characteristics and four degrees of freedom of motion. Contents of the invention [0003] The technical problem to be solved by the present invention is: aiming at the technical problems exis...
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