Series-parallel damping humanoid three-freedom-degree mechanical foot

Abstract

The invention discloses a series-parallel damping humanoid three-freedom-degree mechanical foot and belongs to the field of humanoid robots. The series-parallel damping humanoid three-freedom-degree mechanical foot comprises a mechanical shank, a tarsal bone rod A, a tarsal bone rod B, a tarsal bone rod C, a metatarsal bone rod A, a metatarsal bone rod B, a metatarsal bone rod C, a mechanical toe, a shank spring connecting the mechanical shank with the tarsal bone rod A, an ankle large gear, an ankle motor, an ankle small gear, a tarsal bone large gear, a tarsal bone motor, a tarsal bone small gear, an ankle shaft, a tarsal bone hinge, a metatarsal bone shaft, a toe shaft, a tarsal and metatarsal spring, a toe spring, a toe large gear, a toe small gear and a toe motor, wherein the ankle large gear, the ankle motor and the ankle small gear are arranged on the tarsal bone rod B. The ankle shaft is fixedly combined with the mechanical shank and provided with the ankle small gear. The metatarsal bone shaft is fixedly combined with the metatarsal bone rod A and provided with the ankle small gear. The toe shaft is fixedly combined with the mechanical toe and provided with the toe small gear. The mechanical foot is a humanoid mechanical foot which is simple in structure, has the three freedom degrees and a damping function and is in a series-parallel mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a hybrid vibration-reduction humanoid three-degree-of-freedom mechanical foot. Background technique [0002] With the improvement of people's quality of life, the application of humanoid robots has received widespread attention. Currently, research on humanoid robots has become one of the hotspots in the field of intelligent robots. In order to better imitate human actions, humanoid robots need a mechanical foot with more degrees of freedom of movement to simulate human foot movements during walking. Although the existing humanoid mechanical foot realizes the walking function, it still has certain shortcomings: less freedom of movement, unable to simulate more complex human foot movements; lack of good vibration damping performance, unable to adapt to complex ground environments. Therefore, it is of great significance to design a mechanical foot with vibration reduction fu...

AI Technical Summary

Problems solved by technology

Although the existing humanoid mechanical foot realizes the walking function, it still has certain shortcomings: less freedom of movement, unable to simulate more complex human foot movements; lack of good vibration damping performance, unable to adapt to complex ground environments

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