Humanoid Robot Shank Mechanism With Integrated Ankle Rocker Linkage
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Solution Overview
Problem
Existing simulation robot shank mechanisms lack a compact layout, high joint integration degree, and flexibility, which affects their performance and universality.
Innovation Solution
A simulation robot shank mechanism comprising a shank assembly, ankle assembly, and foot plate assembly, with specific configurations of motors, rocker arm swing members, and hinge clamping grooves, allowing for a compact structure and high joint integration, enabling greater flexibility and movement range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If traditional shank mechanism layout is used, then structure is simpler, but layout compactness and joint integration degree are poor
Solution Approach 1:
The patent merges the ankle joint drive motor, rocker arm swing member, and ankle connecting rod into an integrated ankle assembly. The first and second ankle joint drive motors are mounted on the shank structural member, with their power output ends connected to rocker arm swing members that pivot relative to the shank. The lower portions of the rocker arm swing members connect to the ankle connecting rod, which in turn connects to the foot plate assembly. This merging of multiple components into a unified assembly achieves compact layout and high joint integration degree while maintaining manageable structural complexity.
2Adaptability or versatility
If high joint integration degree is achieved, then flexibility and universality improve, but device complexity increases
Solution Approach 1:
The shank structural member serves multiple functions: it supports the upper portion connected to the knee joint power output structural member and knee joint passive end structural member, connects the lower portion to the ankle cross shaft member, and provides mounting positions for the first and second ankle joint drive motors. The ankle cross shaft member with transverse and longitudinal hinge portions enables multi-directional movement. This multi-functionality design achieves high flexibility and universality for different robot applications while managing complexity through functional integration rather than separate components.
Data Source
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AI summary
Disclosed is a simulation robot shank mechanism, where an upper portion of a shank structural member is connected between a lower portion of a knee joint power output structural member and a lower portion of a knee joint passive end structural member, a lower portion of the shank structural member is connected to an ankle cross shaft member, and the ankle cross shaft member is fixed above a foot plate assembly; a first ankle joint drive motor is fixed to a first motor mounting position, a power output end of the first ankle joint drive motor is connected to an upper portion of a first rocker arm swing member, and a lower portion of the first rocker arm swing member is connected to one side of an ankle connecting rod.