Modeling and Analysis of Flexible Foot Vibration of Multi-Foot Bionic Robot

摘要

In order to solve the problems of large impact force and poor adaptability to complex surface of foot robot in motion, a flexible foot end with two degrees of freedom is proposed and designed. However, the structural characteristics of the foot end and the flexibility of the material lead to a phenomenon in the movement of the robot with this foot end.In order to solve this vibration phenomenon, a two-degree-of-freedom mathematical model of foot vibration is established by analyzing the foot structure and material characteristics. The vibration characteristics of the foot end are analyzed by simulation experiments, and the vibration characteristics of the foot end of different structures are compared. It is verified that the vibration characteristics of the model established in this paper are consistent with the vibration characteristics of the foot end measured by the actual robot experimental platform, which provides an accurate model basis for the next step to achieve vibration suppression through various control methods and motion strategies.