摘要
人形机器人下肢组件作为核心承力单元,其轻量化设计对整机性能具有重要影响。针对自重75kg量级的人形机器人,采用激光增材制造技术对腿部结构实施优化设计。研究将下肢组件划分为小腿和大腿两部分,通过建立拓扑优化模型并构建多维度载荷工况,实现对机器人实际运动状态的精确模拟。在优化策略上,小腿结构采用质量最小化目标函数,而大腿结构则选择刚度最大化优化算法。经迭代计算,优化构型实现超50%的轻量化突破,其中针对小腿结构的优化方案,通过多轮次构型调整与有限元验证,在消除应力集中现象的同时,成功构建兼具优异力学性能与显著轻量化特征的新型结构体系。
The lower limb components of humanoid robots,functioning as core load-bearing units,play a pivotal role in achieving lightweight breakthroughs for enhanced system performance.This study focuses on optimizing lower limb structures for 75kg-class humanoid robots through laser additive manufacturing.The research framework partitions the lower limb assembly into calf and thigh segments,establishing topology optimization models with multi-dimensional load cases to precisely simulate actual motion states.Distinct optimization strategies were implemented:a mass-minimization objective function for the calf structure versus a stiffness-maximization optimization algorithm for the thigh component.Iterative computations yielded optimized configurations achieving over 50%weight reduction.Particularly for the calf structure,multi-phase configuration adjustments combined with finite element verification successfully eliminated stress concentration phenomena while constructing a novel structural system that demonstrates both superior mechanical performance and remarkable lightweight characteristics.
作者
曹智博
罗大迪
齐士杰
巩向鹏
王朵朵
任雁
李宁
CAO Zhibo;LUO Dadi;QI Shijie;GONG Xiangpeng;WANG Duoduo;REN Yan;LI Ning(Beijing North Vehicle Group Corporation,Beijing 100072,China;Liaoning University of Technology,Jinzhou 121001,Liaoning,China;Ningbo Innovation Research Institute of Beihang University,Ningbo 315832,Zhejiang,China)
基金
兵器集团自主创新项目(JY012024103-1)
北仑区关键核心技术攻关项目(2024BLG008)
宁波市自然科学基金(2022J023)。
关键词
人形机器人
拓扑优化
激光增材制造
腿部结构
humanoid robot
topology optimization
laser additive manufacturing
leg structure
