Bionic leg-foot and trunk structure design method based on topological optimization technology

Abstract

The invention discloses a bionic leg-foot and trunk structure design method based on a topological optimization technology. According to the method, a leg structure resource library system and a trunk structure resource library system are constructed, and the overall design requirements and the function introduction information in the structure resource library systems are compared, so that proper modules can be quickly selected to form a preliminary design scheme of the leg and leg structure configuration. Then a modeling tool is used for establishing an overall dynamic analysis model of the robot, and dynamic analysis and structure fine analysis are carried out on the model to obtain stress and strain of the legs and the trunk. Based on a multi-objective progressive structure topological optimization method, an optimized leg structure and an optimized trunk structure are obtained step by step. The stress and the strain of the optimized leg-foot structure and the optimized trunk structure can meet the use requirements of the robot; the leg-foot bearing ratio and the trunk bearing ratio are greatly improved, the weight is greatly reduced, the bearing capacity of a quadruped robot is greatly improved, and the weight of a quadruped robot is reduced.

Description

technical field [0001] The invention relates to the technical field of intelligent bionic legged robots, in particular to a design method for bionic legs, feet and torso structures based on topology optimization technology. Background technique [0002] Robots are known as "the jewel at the top of the crown of the manufacturing industry". The development of the robot industry is of great significance to improving innovation capabilities, enhancing the country's comprehensive strength, and driving the overall economic development. In my country, robot technology innovation and industrial development are important contents . [0003] As the most important development of intelligent mobile service robots in the future, quadruped robots with dexterous maneuverability and autonomous operation are becoming a landmark research hotspot for the next generation of intelligent mobile robots, and countries all over the world are sparing no effort in their development. In 2009, my countr...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a bionic leg, foot and torso structure design method based on topology optimization technology to solve the technical problems of low load capacity and heavy weight of the foot robot in the prior art

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