Four-degree-of-freedom humanoid parallel-connection vibration-reduction mechanical foot

Abstract

The invention discloses a four-degree-of-freedom humanoid parallel-connection vibration-reduction mechanical foot and belongs to the field of humanoid robots. The four-degree-of-freedom humanoid parallel-connection vibration-reduction mechanical foot comprises an ankle joint shaft, a tarsal bone plate, an ankle motor, a tarsal bone shaft, an H-shaped metatarsal plate, a tarsal bone motor, a toe shaft A, a toe shaft B, a parallel-connection toe A, a parallel-connection toe B, a toe motor A and a toe motor B. The ankle joint shaft is provided with a mechanical shank. The ankle motor is arranged on the tarsal bone plate and connected with one end of the ankle joint shaft. The tarsal bone shaft is provided with the tarsal bone plate. The tarsal bone motor is arranged on the H-shaped metatarsal plate. The toe shaft A and the toe shaft B are arranged on the front side and the rear side of the H-shaped metatarsal plate correspondingly. The parallel-connection toe A is arranged on the toe shaft A. The parallel-connection toe B is arranged on the toe shaft B. The toe motor A is arranged on the H-shaped metatarsal plate and connected with the toe shaft A. The toe motor B is arranged on the H-shaped metatarsal plate and connected with the toe shaft B. The four-degree-of-freedom humanoid parallel-connection vibration-reduction mechanical foot further comprises a toe torsion spring A, a toe torsion spring B, a tarsometatarsus torsion spring and an ankle shaft torsion spring. The four-degree-of-freedom humanoid parallel-connection vibration-reduction mechanical foot is a parallel-connection mode humanoid mechanical foot which is reasonable in structure and better in imitation effect, and has four degrees of freedom of motion and a vibration reduction function.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a four-degree-of-freedom humanoid parallel vibration-damping mechanical foot. Background technique [0002] From the perspective of bionics, the study of humanoid robots is of great significance. It can not only serve human beings, but also guide the development of biology. The most important feature of a humanoid robot is to imitate the complex movements and postures of humans. In order to achieve this goal, the design of mechanical feet that imitate human feet has become an important link. The mechanical feet in the prior art cannot simulate the real human foot movement due to less freedom of movement, and the vibration isolation effect is not good. Therefore, it is urgent to design a mechanical foot with more degrees of freedom in order to adapt to the complex ground environment and simulate the subtle movements of human walking. Contents of the invention [0003] The...

AI Technical Summary

Problems solved by technology

Due to the lack of freedom of movement, the existing mechanical feet cannot simulate the real human foot movement, and the vibration isolation effect is not good

Images