Design And Research Of Robot Foot And Ankle Based On Human Body Bionics

Foot and ankle are in direct contact with the ground during human walking.They do not only bear the weight of the human body,but also absorb and buffer the impact from the ground,pushing the body stable and smooth progress.In order to make humanoid robots foot and ankle have same walking characteristics with human body,this article is based on bionics theory,referring to the basic structure of the human ankle,kinematics and biomechanical characteristics,design with a two-degree-of-freedom flexible ankle,foot arch and foot toe structure of bionic ankle model and driver model.The model will be helpful to the stability,flexibility and low power consumption of humanoid robot.This article mainly includes three aspects:(1)Through the study of anatomical structure and movement characteristics of the human foot and ankle.It is learned that some structures play major role in normal walking in the process of the body,and the structure kinematics and dynamics characteristics,according to the principle of bionics preliminary design of humanoid robot foot and ankle model and driver model,draw the schematic diagram.(2)According to the actual size of human foot and ankle.The 3D model of bionic foot and ankle in Pro/engineer,combined with the data of human foot and ankle kinematics and dynamics,static simulation in the motion simulation module of Pro/engineer,it is also achieved that the parameters of the spring and damper model of the bionic model,and the driving force of the cable.(3)Combined with the human foot plantar pressure and the cable driving force,a bionic foot and ankle dynamic model is created in Adams,driven by density and the definition of constraint model.The reasonable simulation parameters are set up to simulate the model,and the simulation results are compared with the experimental data to verify the feasibility of the model.By comparing the simulation results with the experimental data,it can be seen that the bionic ankle model can simulate the motion characteristics of the human foot and ankle,as well as the spring and damper can improve the flexibility of bionic model.The foot and ankle model by bionic human body,solves the humanoid robot walking stability and flexibility,reduce the energy consumption of the robot,and provides a new idea for the design of humanoid robot foot and ankle.