Design Of A Linear Driven Humanoid Robot Foot And Its Performance Research

The research topic of this thesis comes to Central University basic research business special fund project" the research about humanoid robot based on human body motion system". Biped robots have a wide application prospect due to its unique walking way than the other robot. Robot foot is the most important part of the robot motion system, and it is the key factor for the stability of the robot’s walking. Then the human foot is the product of the long term evolution of nature world, its structure form and gait characteristics are the key research direction for the bionic design of the robot foot. It is a necessary way to make the walking flexibility, gait smoothly and buffering absorbing shock absorption performance of the robot same as that of human. It is very significant for the final application of humanoid robot.Aiming at the deficiency of flexible and stiff gait to the current robot foot. Based on the in-depth study of human foot skeletal structure, joint drive, arch structure and gait characteristics, it is discussed and narrated that the function theory to improve the walking stability about simulate the feature of human foot in biped walking robot foot research. The design method of bionic robot foot is proposed based on spatial parallel arch structure, and according to the design idea of bionic foot, we completed the structure design of the bionic foot in Pro/E. Four linear drive cables were designed which plays an important role in the joint drive, maintain the arch and rigid flexible adjustment same as the muscle of the human foot. we get the displacement date and deformation date of human foot joints and arch in walking motion by human foot walking experiments. Based on these kinematic data, the finite element analysis of the bionic foot was carried out under full foot support phases in the Mechanica module of Pro/E, and by optimizing the bionic foot’s joint shape, structure size, spring coefficient and other parameters, the mechanical properties of the bionic foot can be similar to the human foot’s. It is analyzed that the bionic foot can be similar to human foot in arch, joint deformation modes and the plantar reaction force by appropriate linear driving force design in several other supported phases.This research has provided a new thought for the humanoid robot’s foot design for the insufficiency and gait stiffness of the current integral flat foot. The method is proposed for the linear drive of the robot foot, so the stiffness of the robot’s foot can be adjusted through the design of the driving force besides the structural design.