Humanoid robot two-freedom-degree parallel-connection shock absorption mechanical foot

Abstract

The invention discloses a humanoid robot two-freedom-degree parallel-connection shock absorption mechanical foot, and belongs to the field of humanoid robots. The mechanical foot comprises an upper metatarsal bone, an ankle shaft arranged on the upper metatarsal bone, a lower metatarsal bone, four shock absorption guide columns, a toe joint shaft, a big toe, a second toe, a third toe, a fourth toe, a small toe, a tensile spring A, a tensile spring B, and a toe spring for connecting the toe joint shaft with the lower metatarsal bone. A shank rod is arranged on the ankle shaft. The tensile spring A and the tensile spring B are symmetrically arranged on the two sides of the shank rod. The four shock absorption guide columns are of the same structure and each comprises a universal joint arranged on the upper metatarsal bone, a connecting rod, a sleeve arranged on the lower metatarsal bone, a tensile spring arranged in the sleeve, and a slide block. The initial state of the shank rod is vertical, and accordingly the tensile spring A and the tensile spring B are in a zero-force state. The humanoid robot foot is simple in structure and has two movement freedom degrees, a shock absorption function and a parallel-connection mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a two-degree-of-freedom parallel vibration-damping 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 robots has been greatly developed, especially the research of humanoid robots has received widespread attention. The humanoid robot includes the design of the manipulator, mechanical foot, head and torso, among which the design of the mechanical foot is particularly important, because when the humanoid robot walks, when the foot touches the ground, it will generate corresponding motion and vibration , causing the robot to lose its balance and even damage its structure. Therefore, it is of great significance to design a mechanical foot with fewer degrees of freedom and capable of automatic vibration isolation. Contents of the invention [0003] The technical pr...

AI Technical Summary

Problems solved by technology

The humanoid robot includes the design of the manipulator, mechanical foot, head and torso, among which the design of the mechanical foot is particularly important, because when the humanoid robot walks, when the foot touches the ground, it will generate corresponding motion and vibration , causing the robot to lose balance and even damage the structure

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