Cross-Hinge Robot Ankle Mechanism for Compact Joint Integration
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Solution Overview
Problem
Existing simulation robot ankle mechanisms lack a compact layout, high joint integration degree, and flexibility, which affects their performance and universality.
Innovation Solution
A simulation robot ankle mechanism featuring an ankle assembly with a cross-shaped transverse and longitudinal hinge portions, a shank assembly, and hinge clamping grooves, along with ankle joint drive motors and rocker arm swing members, allowing for a compact structure and high flexibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If traditional ankle mechanism structure is used, then the structure is simple to manufacture, but the layout is not compact and joint integration degree is low
Solution Approach 1:
The patent merges multiple joint functions into a single integrated ankle assembly structure. The ankle assembly integrates transverse hinge portions, longitudinal hinge portions, and connecting rod mechanisms into one unified compact unit, achieving high joint integration degree while maintaining compact layout. This resolves the contradiction by combining multiple functional elements into a consolidated structure that occupies less space while providing comprehensive ankle movement capabilities.
Solution Approach 2:
The patent employs nested arrangement where hinge portions and mechanical components are positioned within each other's spatial envelopes. The transverse and longitudinal hinge portions are nested within the ankle assembly footprint, and connecting rod mechanisms are arranged to occupy minimal additional space. This nesting strategy achieves compact layout without sacrificing the complexity of integrated joint functions.
2Adaptability or versatility
If traditional ankle mechanism structure is used, then the structure is stable, but the flexibility and movement range are limited
Solution Approach 1:
The patent implements dynamic flexibility through multiple hinge portions that enable independent transverse and longitudinal movements. The ankle assembly can adapt its configuration based on movement requirements, providing enhanced versatility for different gait patterns and terrain adaptations. The connecting rod mechanisms allow dynamic adjustment of joint angles while maintaining structural integrity through controlled mechanical linkages.
Solution Approach 2:
The patent segments the ankle mechanism into distinct functional modules: transverse hinge portions for side-to-side movement, longitudinal hinge portions for forward-backward movement, and connecting rod mechanisms for coordination. This segmentation allows each component to be optimized for its specific function while working together to provide both flexibility and stability. The modular segmentation enables independent optimization of each joint's range of motion without compromising overall structural stability.
Data Source
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AI summary
Disclosed is a simulation robot ankle mechanism, including an ankle assembly, where the ankle assembly includes an ankle cross shaft member and an ankle connecting rod; a transverse accommodating groove and a longitudinal accommodating groove are formed in the ankle cross shaft member, the transverse accommodating groove is provided with a transverse hinge portion, and the longitudinal accommodating groove is provided with a longitudinal hinge portion; the transverse hinge portion and the longitudinal hinge portion are distributed in a cross shape; a shank assembly is arranged above the ankle assembly, and the shank assembly includes a shank structural member; a foot plate adapter is arranged at a lower end of the ankle connecting rod; a first hinge clamping groove is formed at a lower end of the shank structural member, and a second hinge clamping groove is formed in the foot plate adapter.