一种仿人机器人二自由度并联踝关节机构

By using a seven-bar linkage and a parallel four-bar linkage to design the humanoid robot's ankle joint, the pitch and lateral motion coupling control of the ankle joint is realized, solving the problems of insufficient flexibility and high motor performance requirements in existing technologies, improving the robot's stability and reducing system costs.

CN224509731UActive Publication Date: 2026-07-1758 INTELLIGENT TECH (HANGZHOU) CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
58 INTELLIGENT TECH (HANGZHOU) CO LTD
Filing Date
2025-04-17
Publication Date
2026-07-17

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Abstract

本实用新型涉及机器人技术领域，公开了一种仿人机器人二自由度并联踝关节机构，包括七连杆传动机构，由两组平行四连杆构成闭链传动。电机Ⅰ和Ⅱ安装于小腿上端，其转动通过连杆Ⅰ、Ⅱ、Ⅴ、Ⅵ驱动连杆Ⅳ和Ⅲ运动，进而耦合控制踝关节俯仰和横侧自由度。该机构通过并联传动实现双电机负载均衡，提升等效扭矩，同时可结合运动学与力学解算方法，仅需电机反馈即可实现精准控制，降低传感器成本，适用于双足机器人高稳定运动需求。
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Claims

1. A humanoid robot two-degree-of-freedom parallel ankle mechanism, characterized by, include: The seven-bar linkage consists of shaft I (1), shaft II (2), shaft III (3), shaft IV (4), connecting rod I (5), connecting rod II (6), connecting rod III (7), connecting rod IV (8), connecting rod V (9), connecting rod VI (10), and connecting rod VII (11). The rotating shaft I (1) and rotating shaft II (2) are arranged in parallel vertically on the upper end of the connecting rod VII (11) and are respectively connected to motor I and motor II; The connecting rod I (5) is fixed to the rotating shaft I (1), and the connecting rod II (6) is hinged to the connecting rod I (5) and the connecting rod IV (8) through a ball head; The connecting rod V (9) is fixed to the rotating shaft II (2), and the connecting rod VI (10) is hinged to the connecting rod V (9) and the connecting rod IV (8) through a ball head; The rotating shaft III (3) is located at the lower end of the connecting rod VII (11) and intersects the connecting rod III (7) perpendicularly. The rotating shaft IV (4) is hinged to the connecting rod III (7) through the midpoint of the connecting rod IV (8). The rotating shaft III (3) and the rotating shaft IV (4) intersect perpendicularly to form a closed chain transmission.

2. The ankle mechanism of claim 1, wherein, Links I (5), II (6), IV (8) and III (7) form the first parallel four-link, and links V (9), VI (10), IV (8) and III (7) form the second parallel four-link.

3. The ankle mechanism of claim 1, wherein, The rotation of motors I and II drives the pitch and lateral movements of the ankle joint through the seven-bar linkage.