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Lightweight design method of leg structure of biped humanoid robot

A lightweight design, robot technology, applied in the field of robots, can solve the problems of difficult debugging and control, high quality, short operation time, etc., to reduce power, increase power supply time, and avoid interference.

Inactive Publication Date: 2015-01-28
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI +1
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Problems solved by technology

[0003] At present, the problems faced by biped humanoid robots in the prior art are mainly as follows: large mass, large motion inertia, difficult debugging and control, insufficient power supply, and short operating time

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  • Lightweight design method of leg structure of biped humanoid robot
  • Lightweight design method of leg structure of biped humanoid robot
  • Lightweight design method of leg structure of biped humanoid robot

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Embodiment Construction

[0020] Further describe the present invention below in conjunction with embodiment and accompanying drawing thereof:

[0021] Such as Figure 1 to Figure 4 As shown in the present invention, a lightweight design method for the leg structure of a biped humanoid robot, under the condition of not changing the motor, driver and other components, carries out load constraints according to the actual force situation, and the legs of the biped humanoid robot Topology optimization is performed on the internal structure to reduce the profile and weight of the robot's legs.

[0022] The material grade used for the leg structure of the biped humanoid robot of the present invention is aluminum alloy 7075-T651, and the material properties are: mass density is 2810kg / m3, elastic modulus is 72Gpa, Poisson's ratio is 0.33, and yield strength is 505Mpa. Due to the limitation of processing conditions, the thickness of the component is not changed due to the compression deformation of the compon...

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Abstract

The invention provides a lightweight design method of a leg structure of a biped humanoid robot. The lightweight design method comprises the following steps: (1) performing evolutionary structural topological optimization based design on the leg structure of the robot according to the weight bearing ability of the leg structure of the robot, and setting two working conditions, namely an upright state in which the included angle of the body and the legs is 180 degrees and an bent state in which the included angle is 150 degrees, for finite element analysis, (2) performing meshing, freezing fixed and part installed components and bolt and sliding groove components with the strain energy of the sum of two load working conditions as a target function and the volume as a constraint condition, adopting withdrawing pattern constraint in the vertical direction of a cover plate and performing topological structural optimization, and (3) designing the legs of the humanoid robot according to the optimization result. The lightweight design method of the leg structure of the biped humanoid robot is capable of realizing the optimal distribution of materials and reducing the outline and the quality of the leg structure of the biped humanoid robot by virtue of the evolutionary structural topological optimization.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a lightweight design method for the leg structure of a biped humanoid robot. Background technique [0002] Multifunctional, low energy consumption, flexible and easy-to-operate robots are the inevitable direction of development. At present, most robots are powered by batteries. The less power the robot consumes, the longer the battery power supply time. Therefore, lightweight and low-cost production has become the optimal choice for today's robots. ultimate goal. The robot consists of a head, torso and limbs, among which the legs bear most of the weight of the body and play a role in stabilizing the robot's center of gravity and adjusting the robot's posture. Legs are the key mechanism for the movement of biped robots. The large outline of the legs may easily cause interference during the movement process. The flexibility of the legs restricts the flexibility of the r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
Inventor 叶冬森孙少明骆敏舟李涛陈赛旋刘效江喻飞张丽华
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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