关键词: 人形机器人, 踝关节机构, 静力学, 变形协调方程

Abstract: By the dismantle-bar method, the statics equilibrium equations of the mechanism were set up, considering the elasticity of member and then utilizing the micro-deformation and superposition principle, the deformation equations of compatibility were derived and then the statics analyses of the 2-DOFs parallel humanoid robotic ankle mechanism were fulfilled. As a numerical example, some figures which showed the relationship among each force on each member and the position and posture of the mechanism were drawn under three kinds of external loads, respectively. The results show that, under the external forces only, the forces acting on branched chain 1 are very small, the forces acting on branched chain 2 are approximately zero, and the forces acting on central spherical pair branched chain approximately equal to the external force. Under the external torques only, the force conditions of three branched chains are similar. Under external forces and torques, the force conditions of branched chain 1, 2 are similar to the force conditions that under the external torques only, the forces acting on central spherical pair branched chain are the superposition of the two forces in the above two cases. The force portions of external load are mainly carried by central spherical pair branched chain, the torque portions are jointly carried by three branched chains. The research provides a theoretical basis of statics for structure design and applications of this humanoid robotic ankle mechanisms in engineering．

Key words: humanoid robot, ankle mechanism, statics, deformation equation of compatibility