Four-degree-of-freedom hybrid high-frequency mechanical foot for humanoid robot

Abstract

The invention discloses a four-freedom-degree series-parallel high-frequency mechanical humanoid robot foot, and belongs to the field of humanoid robots.The foot comprises a mechanical shank, a tarsal skeleton, a metatarsal skeleton, parallel toes, an ankle joint, a tarsometatarsal joint and a metatarsophalangeal joint; the mechanical shank is installed at the right end of the tarsal skeleton through the ankle joint, the left end of the tarsal skeleton is connected with the right end of the metatarsal skeleton through the tarsometatarsal joint, and the left end of the metatarsal skeleton is connected with the parallel toes through the metatarsopphalangeal joint; the parallel toes comprise the big toe, the second toe, the third toe, the fourth toe and the small toe, the metatarsophalangeal joint comprises a big toe gear shaft, a small toe gear shaft, a fourth motor frame and a fourth motor, the tarsometatarsal joint comprises a small metatarsal bone gear shaft, a big metatarsal bone gear shaft, a third motor frame and a third motor, and the ankle joint comprises a small ankle gear shaft, a big ankle gear shaft, a second motor, an ankle rotating shaft, a flange plate and a first motor.The humanoid robot foot is reasonable in structure, has four motion freedom degrees and the high-frequency motion characteristic 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 four-degree-of-freedom mixed high-frequency 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 humanoid robots has been widely valued. Compared with traditional robots, humanoid robots can better imitate human actions and adapt to human daily life environment better. However, due to the less freedom of movement of the mechanical foot and the low frequency of dynamic response, it is impossible to realize the fast walking of human beings, thus losing the true meaning of human imitation. Therefore, it is of great significance to design a mechanical foot with high-frequency characteristics and 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 exis...

AI Technical Summary

Problems solved by technology

However, due to the less freedom of movement of the mechanical foot and the low frequency of dynamic response, it is impossible to realize the fast walking of human beings, thus losing the real meaning of human imitation

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