基于激光增材制造的人形机器人腿部结构拓扑优化设计

Topology Optimization Design of Humanoid Robot Leg Structures Based on Laser Additive Manufacturing

  • 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。本研究针对自重75kg量级的人形机器人,采用激光增材制造技术对下肢结构实施优化设计。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。

     

    Abstract: 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.

     

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