Three-freedom-degree series vibration-reducing mechanical humanoid robot foot

Abstract

The invention discloses a three-freedom-degree series vibration-reducing mechanical humanoid robot foot, and belongs to the field of humanoid robots.The foot comprises toes, a metatarsal bone, a tarsal bone, a toe joint, a first torsion spring, a tarsometatarsal joint, a second torsion spring, an ankle joint, a third torsion spring, a tarsal skeleton, an instep and an arch-shaped foot sole; the arch-shaped foot sole is installed on the lower surface of the tarsal skeleton; the metatarsal bone is installed in front of the middle of the tarsal skeleton; when the second torsion spring is located in a mechanical balance state, the included angle between the metatarsal bone and the tarsal bone is 150 degrees; when the third torsion spring is located in a mechanical balance state, a shank bone is in a vertical state and forms a 120-degree included angle with the tarsal bone; the toes and the metatarsal bone can freely rotate with the help of the toe joint; the metatarsal bone and the tarsal bone can freely rotate with the help of the tarsometatarsal joint; the shank bone can freely rotate relative to the tarsal bone around the ankle joint.The humanoid robot foot is simple in structure, has three motion freedom degrees and a vibration reducing function and is in a series mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a three-degree-of-freedom series vibration-damping mechanical foot of a humanoid robot. Background technique [0002] The 21st century is the era of robots, so it is of great significance to study robots, especially humanoid robots. Different from traditional robots, humanoid robots need to better imitate the complex movements of human beings, so the mechanical structure design of humanoid robots becomes quite complicated. In the humanoid robot structure, the design of the mechanical foot is more important. It not only needs to achieve stable walking, but also has a certain vibration reduction function to adapt to the unevenness of the ground. The existing mechanical feet have less freedom of movement and cannot truly simulate human foot walking. Therefore, it is of great significance to design a mechanical foot with more degrees of freedom and adaptive vibration reduction...

AI Technical Summary

Problems solved by technology

The existing mechanical feet have less freedom of movement and cannot truly simulate human foot walking

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