Humanoid robot four-degrees-of-freedom series-parallel-connection low-frequency mechanical foot

Abstract

The invention discloses a humanoid robot four-degrees-of-freedom series-parallel-connection low-frequency mechanical foot and belongs to the field of humanoid robots. The humanoid robot four-degrees-of-freedom series-parallel-connection low-frequency mechanical foot comprises a U-shaped tarsal bone frame, an ankle joint shaft A, a shank rotary power device, a rotary shaft, a low-frequency power device B, a metatarsal bone plate, a low-frequency power device A, a stepping motor A, a toe shaft and a parallel connection toe. The structure of the low-frequency power device A is completely the same as that of the low-frequency power device B. The low-frequency power device A and the low-frequency power device B each comprises a worm bracket B, a worm bracket A, a worm, a U-shaped frame, a stepping motor B and worm wheel. The worm wheel in the low-frequency power device A is arranged on the rotary shaft. The worm wheel in the low-frequency power device B is arranged on the ankle joint shaft A. The shank rotary power device comprises an ankle joint shaft B, an ankle motor A, a flange plate and a bolt. The ankle joint shaft A perpendicularity passes through the ankle joint shaft B. The humanoid robot four-degrees-of-freedom series-parallel-connection low-frequency mechanical foot is a series-parallel-connection mode humanoid mechanical foot which is reasonable in structure and highly human-simulated, and has four degrees of freedom of motion and low-frequency motion performance.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a four-degree-of-freedom hybrid low-frequency mechanical foot of a humanoid robot. Background technique [0002] From the perspective of bionics, the study of humanoid robots is of great significance. The structure of a humanoid robot generally includes a mechanical head, a mechanical hand, a mechanical foot, and a torso. The number of degrees of freedom of movement of the mechanical foot determines the degree of imitation of anthropomorphic actions. The mechanical foot in the prior art has less freedom of movement and cannot simulate the subtle movements of the human foot when walking, which in turn reduces the stability of walking. Therefore, it is of great significance to design a mechanical foot with four degrees of freedom of motion. Contents of the invention [0003] The technical problem to be solved by the present invention is: aiming at the technical problems ex...

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Problems solved by technology

The mechanical feet in the prior art have less freedom of movement and cannot simulate the subtle movements of human feet when walking, which in turn reduces the stability of walking

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