Shock-resistant four-degree-of-freedom parallel humanoid mechanical foot

Abstract

The invention discloses a shock-resistant four-degree-of-freedom parallel humanoid mechanical foot and belongs to the field of humanoid robots. The shock-resistant four-degree-of-freedom parallel humanoid mechanical foot comprises a mechanical shank, an orthogonal ankle joint shaft, a tarsal bone rod, a metatarsal bone rod arranged at the left end of the tarsal bone rod through a tarsal and metatarsal hinge, toes arranged on the metatarsal bone rod through a metatarsal and toe hinge, an arch-shaped sole board arranged at the bottom of the metatarsal bone rod, an instep face and a rubber strut with the two ends connected with the instep face and the metatarsal bone rod 4. The orthogonal ankle joint shaft comprises a main shaft frame, a main ankle shaft A, a main ankle shaft B, bolts and a motor. A toe spring is arranged between the toes and the metatarsal bone rod. An upper metatarsal bone spring A and an upper metatarsal bone spring B are arranged between the instep face and the metatarsal bone rod. The right end of the instep face is connected with the tarsal bone rod through a tarsal bone spring. The left end and the right end of the arch-shaped sole board are connected with the metatarsal bone rod through a lower metatarsal bone spring A and a lower metatarsal bone spring B. The shock-resistant four-degree-of-freedom parallel humanoid mechanical foot is reasonable in structure and stable in operation, has four degrees of freedom and the shock resistant function and is in a parallel mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to an impact-resistant four-degree-of-freedom parallel humanoid mechanical foot. Background technique [0002] In the field of intelligence research, the research of robots has become one of the hot spots, especially the research of humanoid robots. From a biological point of view, the humanoid mechanical foot needs to have more than four degrees of freedom in order to better simulate the movement characteristics of the human foot. Although the mechanical foot of the prior art realizes the walking process, it is difficult to simulate the detailed movements of the human foot due to less freedom of movement, and cannot realize the impact energy absorption process of the human foot. Therefore, it is of great value to design a mechanical foot with four degrees of freedom that can automatically absorb impact energy. Contents of the invention [0003] The technical problem to be ...

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Problems solved by technology

Although the mechanical foot of the prior art realizes the walking process, it is difficult to simulate the detailed movements of th...

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