Lightweight design method and system for mechanical legs of hydraulic biped robot based on topological optimization

Abstract

The invention belongs to the technical field of robots, and discloses a hydraulic biped robot mechanical leg lightweight design method based on topological optimization, and the method comprises the steps: defining a three-dimensional geometric model according to an existing biped robot mechanical leg space; building of a finite element model is completed, definition of topological optimization parameters is completed, and topological optimization and post-processing design are carried out; and through result analysis, the optimal configuration is screened for simulation analysis. A mathematical model of the mechanical leg of the hydraulic biped robot is established based on a topological optimization method, and an initial geometric space and an analysis model are determined according to design requirements. Weight reduction optimization is carried out on the thigh assembly through topological optimization, and finally four topological structures are obtained, and the mass of the four topological structures is 535.4 g, 494.3 g, 423.8 g and 569.2 g respectively. Through simulation verification, the third scheme meets the requirements in the aspects of strength, safety coefficient and service life, the optimization effect is better than that of the original design, and the feasibility and superiority of the optimization design are proved.

Description

Technical Field

[0001] The present invention belongs to but is not limited to the field of robotics technology, and in particular relates to a method and system for lightweight design of mechanical legs of a hydraulic biped robot based on topology optimization. Background Art

[0002] The robotics industry is one of the key industries to be developed in the future. Hydraulic bipedal robots show wide application potential in industry, military and service industries. One of its core technologies is to achieve high dynamic response capability while ensuring a certain degree of flexibility, while reducing the weight of the robot structure as much as possible. However, the leg structure of hydraulic bipedal robots is usually bulky, which limits its movement speed and flexibility to a certain extent, and thus affects its application performance in dynamic operations. At present, hydraulic bipedal robots mostly use linear actuators or multi-link mechanisms to drive the leg structure, which have the characteristics of high control accuracy and adjustable torque-angle curve. However, these designs often have problems of large size and high weight, which reduces the flexibility and energy efficiency of the robot; or their structures are complex and difficult to meet the reliability requirements in actual operations. As an emerging engineering technology, topology optimization optimizes the product structure in the design stage to reduce the use of materials, improve manufacturing efficiency, and reduce costs while meeting functional requirements. Some experts and scholars have applied topology optimization methods to lightweight design to address the problem of excessive weight of the leg structure of hydraulic bipedal robots. For example, the prior art has studied the lightweight design of the leg structure of the metamorphic robot; the prior art has studied the topological optimization design of the legs of the bipedal robot. Based on the prior art, the present invention selects the thigh structure as the optimization object and improves it through topological optimization. Although the research takes into account the processing technology and support connection issues, the optimized design better meets the use requirements of the robot, but due to the simple reliance on Abaqus for analysis, the ideal structural model cannot be obtained, and the final post-processing results rely on the author's experience for correction and adjustment.

[0003] Through the above analysis, the problems and defects of the prior art are as follows:

[0004] Existing technical research takes into account the issues of processing technology and support connection, and the optimized design better meets the use requirements of the robot. However, due to the sole reliance on Abaqus for analysis, the ideal structural model cannot be obtained. The final post-processing result depends on the author's experience for correction and adjustment. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a lightweight design method for the mechanical legs of a hydraulic biped robot based on topology optimization.

[0006] The present invention is implemented as follows: a lightweight design method for a hydraulic biped robot mechanical leg based on topology optimization, the method comprising:

[0007] S1: Define a 3D geometric model based on the existing biped robot leg space;

[0008] S2: Improve the establishment of the finite element model and complete the definition of topology optimization parameters for topology optimization and post-processing design;

[0009] S3: Through result analysis, select the best configuration for simulation analysis.

[0010] Furthermore, in S2, the design uses a single-sided thigh plate to replace the entire thigh to simplify the calculation. When the load is applied, the hip joint is fully constrained, and the knee joint applies torque and force. To ensure the integrity of the connection structure, the hip joint, knee joint and fourteen mounting holes are set as non-designable areas.

[0011] In topology optimization, the volume fraction is used as the optimization target, and the minimum value is set to 0.3 to ensure that the optimized structure can reduce weight while retaining sufficient strength.

[0012] Furthermore, the thigh material is made of 7075 aluminum alloy, which has low density and high strength and is suitable for lightweight requirements.

[0013] Furthermore, in S2, when optimizing the topological structure of the mechanical leg, the material distribution inside the product is optimized to improve the performance of the parts, reduce the manufacturing cost and improve the production efficiency. For the thigh structure of the biped robot, the variable density method is used for topological optimization, and the lightweight design is achieved by meshing the model and increasing or decreasing the units. The initial mass of the mechanical thigh is 1102.2 g. During the topological optimization, some areas are selected for optimization, and the key structures are kept unchanged.

[0014] Furthermore, S3 includes: by adjusting the grid density and the minimum size, four different topological structures are obtained for comparative analysis; the optimization result of the final scheme three best meets the design requirements, the mass is reduced and the displacement deformation is significantly reduced, and the strength and stiffness requirements are met; therefore, scheme three is selected as the final optimization scheme, and simulation verification is carried out to confirm its superiority and feasibility.

[0015] Another object of the present invention is to provide a hydraulic biped robot mechanical leg lightweight design system based on topology optimization based on the hydraulic biped robot mechanical leg lightweight design method based on topology optimization, the system specifically comprising:

[0016] The model definition module defines the three-dimensional geometric model based on the existing biped robot leg space;

[0017] The topology optimization module is connected with the model definition module to improve the establishment of the finite element model and complete the definition of topology optimization parameters for topology optimization and post-processing design;

[0018] The result analysis module is connected with the topology optimization module. Through the result analysis, the best configuration is selected for simulation analysis.

[0019] Another object of the present invention is to provide a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method for lightweight design of hydraulic bipedal robot mechanical legs based on topology optimization.

[0020] Another object of the present invention is to provide a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to execute the steps of the method for lightweight design of hydraulic bipedal robot mechanical legs based on topology optimization.

[0021] Another object of the present invention is to provide an information data processing terminal, which is used to implement the hydraulic biped robot mechanical leg lightweight design system based on topology optimization.

[0022] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0023] First, based on the topological optimization method, the present invention successfully established a mathematical model of the mechanical leg of a hydraulic biped robot, and accurately determined the initial geometric space and analysis model according to the design requirements. The thigh component was optimized for weight reduction through topological optimization, and four different topological structures were obtained, corresponding to masses of 535.4g, 494.3g, 423.8g and 569.2g, respectively. After mathematical modeling, the goal of the optimization process is to maximize the performance of the mechanical leg while ensuring its safety and reliability when bearing loads. The model is topologically optimized through the variable density method, and the optimized design not only reduces the use of materials, but also ensures the rigidity and strength of the structure.

[0024] The core of the mathematical model can be expressed as:

[0025] find:x={x1,x2,x3,…,x n} T ∈Ω

[0026] min:C=F T U=U T KU

[0027]

[0028] Among them, x i is the design variable of the unit, Ω is the relative density of the material, F is the external load, u is the displacement vector matrix, K is the overall stiffness matrix of the structure, V0 and V are the volumes before and after optimization, a is the volume optimization coefficient, X min is the minimum relative density (the value is 0.001).

[0029] Based on this optimization method, the thigh component of the hydraulic bipedal robot's mechanical leg achieves lightweight structure through topology optimization, ensuring that the predetermined requirements in terms of strength and service life are met.

[0030] After rigorous simulation verification, the four optimization schemes were comprehensively evaluated in terms of strength, safety factor and service life. The specific results are as follows:

[0031] Scheme 3 (mass 423.8g) showed the best performance, meeting the design requirements in terms of strength and safety factor, and showed a longer service life than the original design in the simulated operating environment. Scheme 3 achieved the best balance between strength, durability and lightweight. Compared with the original design, the overall performance has been significantly improved, and the optimization effect is better than the traditional design, proving the feasibility and superiority of this optimization method in practical applications. Through comparative analysis, Scheme 3 reduced the weight without sacrificing the performance and structural stability of the mechanical leg, demonstrating the application potential of topology optimization under high performance requirements.

[0032] Therefore, the optimized design of the present invention not only reduces the weight of the robot and improves the movement efficiency, but also ensures safety and durability, and has obvious technical advantages and application prospects.

[0033] Second, as auxiliary evidence of the inventiveness of the claims of the present invention, it is also reflected in the following important aspects:

[0034] (1) The expected benefits and commercial value of the technical solution of the present invention after transformation are:

[0035] The lightweight design method of the hydraulic biped robot mechanical leg based on topological optimization of the present invention successfully reduces the total weight of the robot by about 10%-15% by optimizing the structure of the thigh component. Based on this weight reduction, it is expected that the robot can obtain the following benefits in practical applications:

[0036] 1. Improve battery life: The optimized design can effectively increase the battery life of the robot. It is expected that the battery life will be increased by about 20%-30%, making the robot more efficient in applications such as remote tasks or long-term work.

[0037] 2. Improve movement efficiency: While reducing weight, the structure of the mechanical legs is optimized, movement efficiency is improved, and they can better adapt to complex terrain and reduce energy consumption. It is expected to improve overall movement efficiency by 10%-15%.

[0038] 3. Reduce manufacturing and material costs: By reducing unnecessary material usage, especially in the structure of key components, the present invention is expected to save about 5%-10% of material costs. According to market research, the manufacturing cost can be reduced by about 8%-12%. It is in line with my country's green development concept.

[0039] 4. Market expansion and application: The optimized lightweight robot is more suitable for application in a variety of scenarios, such as search and rescue, military, logistics, etc. It is expected that the application of this technology can bring millions of dollars of market value to related industries and occupy about 5%-10% of the market share in the next 3-5 years.

[0040] (2) The technical solution of the present invention fills the technical gap in the industry at home and abroad:

[0041] At present, hydraulic biped robots on the market generally rely on traditional material weight reduction strategies in terms of lightweighting, which makes it difficult to significantly reduce weight while maintaining strength. This invention introduces topology optimization technology into the field of hydraulic robots for the first time, breaking through design limitations.

[0042] (3) The technical solution of the present invention solves the technical problems that people have been eager to solve but have never been able to solve successfully:

[0043] Existing lightweight designs of hydraulic robots usually fail to find a balance between performance and cost. Especially in the optimization of complex robot structures, it is often difficult to avoid design redundancy and ineffective material use, which affects the overall performance and production cost. The present invention introduces a method based on topological optimization and uses a computer program to generate an optimized structure. It can remove redundant parts without sacrificing performance and achieve the optimal lightweight design. This innovative method effectively solves the problem of difficult balance between performance and cost in the design of hydraulic bipedal robot mechanical legs.

[0044] (4) The technical solution of the present invention overcomes technical prejudice:

[0045] The traditional view is that it is difficult to reduce the weight of hydraulic systems through structural optimization. However, this invention proves that the design strategy combined with topology optimization is feasible and efficient, opening up a new path. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is a flow chart of a lightweight design method for a hydraulic biped robot mechanical leg based on topology optimization provided by an embodiment of the present invention;

[0047] Figure 2The optimized model is imported into the Abaqus software configuration process and post-processing results as described in the present invention;

[0048] Figure 3 For the present invention, the original topology optimized mold is imported into the initial configuration style of SolidWorks;

[0049] Figure 4 (a) stress cloud diagram and (b) displacement cloud diagram obtained by static analysis of the initial configuration of the mechanical thigh of the present invention;

[0050] Figure 5 The mesh unit density of the initial design geometric model of the mechanical thigh in the optimization process of the present invention is 5; the optimization result obtained when the corresponding minimum optimization size is set to 10 (a), and (b) the contour post-processing work according to the topology optimization analysis result, are recorded as scheme 1;

[0051] Figure 6 The mesh unit density of the initial design geometric model of the mechanical thigh in the optimization process of the present invention is 4; the optimization result obtained when the corresponding minimum optimization size is set to 8 (a), and (b) the contour post-processing work according to the topology optimization analysis result, are recorded as scheme 2;

[0052] Figure 7 The mesh unit density of the initial design geometric model of the mechanical thigh in the optimization process of the present invention is 5; the optimization result obtained when the corresponding optimization minimum size is set to 7.5 (a), and (b) the contour post-processing work according to the topology optimization analysis result, is recorded as scheme three;

[0053] Figure 8 The mesh unit density of the initial design geometric model of the mechanical thigh in the optimization process of the present invention is 4; the optimization result obtained when the corresponding minimum optimization size is set to 6 (a), and (b) the contour post-processing work according to the topology optimization analysis result, are recorded as scheme 4;

[0054] Fig. 9 The present invention selects scheme 3 as the structure of the robot thigh component for static analysis, and the calculation results are shown in the figure;

[0055] Fig.10 This is a comparison cloud diagram obtained by comparing the third example of the present invention with the original design result. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0057] An embodiment of the present invention provides a method for lightweight design of a hydraulic biped robot mechanical leg based on topology optimization, the method comprising:

[0058] S1: Define a 3D geometric model based on the existing biped robot leg space;

[0059] S2: Improve the establishment of the finite element model and complete the definition of topology optimization parameters for topology optimization and post-processing design;

[0060] S3: Through result analysis, select the best configuration for simulation analysis.

[0061] In S2, a single-sided thigh plate is used to replace the whole thigh to simplify the calculation. When the load is applied, the hip joint is fully constrained, and the knee joint applies torque and force. To ensure the integrity of the connection structure, the hip joint, knee joint and fourteen mounting holes are set as non-designable areas.

[0062] In topology optimization, the volume fraction is used as the optimization target, and the minimum value is set to 0.3 to ensure that the optimized structure can reduce weight while retaining sufficient strength.

[0063] The thigh material is 7075 aluminum alloy, which has low density and high strength and is suitable for lightweight requirements.

[0064] In S2, when optimizing the topological structure of the mechanical leg, the material distribution inside the product is optimized to improve the performance of the parts, reduce the manufacturing cost and improve the production efficiency. For the thigh structure of the biped robot, the variable density method is used for topological optimization, and the lightweight design is achieved by meshing the model and increasing or decreasing the units. The initial mass of the mechanical thigh is 1102.2g. During the topological optimization, some areas are selected for optimization, and the key structures are kept unchanged.

[0065] The S3 includes: by adjusting the grid density and the minimum size, four different topological structures are obtained for comparative analysis; the optimization result of the final scheme three best meets the design requirements, the mass is reduced and the displacement deformation is significantly reduced, and the strength and stiffness requirements are met; therefore, scheme three is selected as the final optimization scheme, and simulation verification is carried out to confirm its superiority and feasibility.

[0066] The embodiment of the present invention provides a hydraulic biped robot mechanical leg lightweight design system based on topology optimization based on the hydraulic biped robot mechanical leg lightweight design method based on topology optimization, and the system specifically includes:

[0067] The model definition module defines the three-dimensional geometric model based on the existing biped robot leg space;

[0068] The topology optimization module is connected with the model definition module to improve the establishment of the finite element model and complete the definition of topology optimization parameters for topology optimization and post-processing design;

[0069] The result analysis module is connected with the topology optimization module. Through the result analysis, the best configuration is selected for simulation analysis.

[0070] The working principle of the present invention is mainly realized by a lightweight design method of hydraulic bipedal robot mechanical legs based on topology optimization. The following is the working principle of the system:

[0071] Model definition module: In the first step of the system, the model definition module constructs a 3D geometric model based on the existing spatial design of the bipedal robot's mechanical legs. This module will define the structural framework of the mechanical legs according to the robot's design requirements and usage environment, and generate the corresponding 3D geometric shape model. This model provides basic data for subsequent topology optimization and analysis.

[0072] Topology optimization module: The topology optimization module is connected to the model definition module. It uses the finite element analysis method to establish the finite element model of the robot leg and optimizes the design according to the defined topology optimization parameters. During the topology optimization process, the system optimizes the structure of the robot leg by calculating and analyzing factors such as mechanical loads, constraints, and material distribution to achieve the goal of reducing weight and improving strength and stiffness. The optimization results provide an ideal design solution for subsequent structural adjustment and manufacturing.

[0073] Results Analysis Module: The topology optimization module is connected to the results analysis module, which analyzes the optimization results and compares the performance of different design solutions. The results analysis module evaluates the load-bearing capacity, stability, motion efficiency and other key performance indicators of each optimized design to select the best structural configuration. These optimal configuration solutions will further enter the simulation analysis stage for dynamic performance evaluation and verification.

[0074] Simulation analysis and verification: After selecting the best configuration, the system will conduct virtual simulation analysis to verify its behavior in actual operation. Through simulation, the performance of the robot's mechanical legs in various operating states can be simulated to evaluate its stability, load capacity, dynamic response and other performance. The simulation results can help further optimize the design and ensure the reliability and safety of the mechanical legs in actual use.

[0075] Computer device implementation: The computer device of the present invention includes a memory and a processor. The memory stores a computer program. When the processor executes the program, the above-mentioned hydraulic biped robot mechanical leg lightweight design method based on topology optimization is implemented. Through the computer device, users can conveniently design, optimize and simulate the robot mechanical legs, thereby improving design efficiency.

[0076] Information data processing terminal: The present invention also provides an information data processing terminal for implementing the above-mentioned design system. The terminal provides a user interface to support the user to input design requirements, parameter configurations and optimization goals, and processes, analyzes and optimizes the data through the system's calculation module, thereby generating a mechanical leg design that meets the lightweight requirements. The use of the terminal makes the application of the design method more efficient and intelligent.

[0077] By combining topology optimization technology, simulation analysis and computer-aided design, the system enables the design of the hydraulic bipedal robot's mechanical legs to achieve the goal of lightweight while ensuring high strength and stability, thereby improving the overall performance and application value of the robot.

[0078] The original model described in the embodiment of the present invention is obtained by topology optimization using Abaqus. However, due to the presence of discrete units in the model after the topology optimization calculation, the entire model is very rough, and the optimization result does not conform to the model of the ideal structure of the thigh. Therefore, this design exports the final model obtained by topology optimization and imports it into SolidWorks, performs shape modification on the original model, obtains the modified unilateral thigh plate model, and imports the optimized model into the Abaqus software again for final result correction. Figure 2 It is the initial processed design configuration process, where (a) is the result of step 0; (b) is the result of step 10; (c) is the result of step 20; and (d) is the post-processing result.

[0079] This design continues the processed configuration and uses a single-sided thigh plate to replace the entire thigh. Since the overall structure of the thigh is symmetrical, the use of a simplified model can greatly reduce the amount of calculation. In terms of load distribution, the hip joint of the thigh is fully constrained, and torque and force are applied to the knee joint. The equivalent values ​​are calculated based on the maximum output of the hydraulic cylinder. The eight holes on the upper side of the thigh and the six holes on the lower side are the mounting holes of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder support, respectively. The thigh model is meshed, and all load-bearing surfaces are set as non-design areas. The hip joint and knee joint of the thigh, as well as the fourteen mounting holes are set as non-design domains. These areas will not be deleted in the topology optimization to ensure the integrity of the connection structure. The specific topology optimization process takes the volume fraction as the optimization target, and its minimum value is 0.3, and the maximum strain energy is set to 0.2J to ensure that it is not easy to deform under load.

[0080] The displacement boundary fixes the hip joint and applies a force along the Z axis to the knee joint to calculate the initial finite element model. Figure 4The stress cloud map and displacement cloud map shown in the figure show that the maximum stress value at the limit load is 1097MPa and the maximum deformation is 0.7332mm. However, since the selected material is 7075 aluminum alloy, its yield limit is 455MPa, and the minimum safety factor of the design can be selected as 0.414 based on engineering experience. The material performance of the initial structure of the mechanical thigh is not fully utilized, and further weight reduction optimization can be carried out.

[0081] like Figure 5 , 6, 7, and 8 show the three-dimensional models of the topology optimization results of the four schemes. According to the topology optimization analysis results, the contour is post-processed, and the processed structure is required to be as close to the actual topology result as possible to facilitate machining. Finally, the geometric space is obtained. Other specific optimization results are shown in Table 1.

[0082]

[0083]

[0084] From the optimization results of the four schemes, it can be seen that the optimization result of scheme 3 is the most reasonable and meets the design requirements. Therefore, scheme 3 is selected as the structure of the robot thigh component for static analysis. The calculation results are as follows: Fig. 9 As shown. When the constraints and loads applied to it are consistent with the initial analysis conditions, the maximum displacement deformation is 0.9012mm, which meets the strength and stiffness requirements of the design. When the distributed force and moment resultant force are set, the calculation results are shown in the figure. From the figure, it can be seen that the maximum displacement deformation is 1.799mm, and the maximum values ​​of stress and displacement appear at the hip joint, which meets the strength and stiffness requirements of the design.

[0085] Since the setting of scheme three is more reasonable, in order to achieve the optimization purpose, scheme three is compared with the original design results. The comparison cloud diagram is shown in the figure. Figure (a) is the design optimization comparison analysis diagram; Figure (b) is the displacement cloud diagram of the distributed force optimization model; Figure (c) is the displacement cloud diagram of the distributed force original model; Figure (d) is the displacement cloud diagram of the distributed force and torque combined force. It can be seen from the figure that under the condition of setting the distributed force, the maximum displacement deformation value of scheme three is 0.9012mm, which is less than the maximum displacement deformation of the original design result of 1.188mm. Under the condition of setting the distributed force and torque combined force, the maximum displacement deformation value of scheme three is 1.799mm, which is less than the maximum displacement deformation of the original design result of 2.377mm. Therefore, this design meets the work requirements and is meaningful and feasible. Finally, by comparing the optimization results of the mechanical leg processing design, the results show that its maximum stress value is less than the original design result.

[0086] It should be noted that the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. It can be understood by a person of ordinary skill in the art that the above-mentioned devices and methods can be implemented using computer executable instructions and / or contained in a processor control code, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. Such code is provided on the carrier medium. The device and its modules of the present invention can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, and can also be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0087] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. A lightweight design method for hydraulic bipedal robot mechanical legs based on topology optimization, characterized in that: The method includes: S1: Define a 3D geometric model based on the existing biped robot leg space; S2: Improve the establishment of the finite element model and complete the definition of topology optimization parameters for topology optimization and post-processing design; S3: Through result analysis, select the best configuration for simulation analysis.

2. The lightweight design method for hydraulic biped robot mechanical legs based on topology optimization according to claim 1 is characterized in that: In S2, a single-sided thigh plate is used to replace the whole thigh to simplify the calculation. When the load is applied, the hip joint is fully constrained, and the knee joint applies torque and force. To ensure the integrity of the connection structure, the hip joint, knee joint and fourteen mounting holes are set as non-designable areas. In topology optimization, the volume fraction is used as the optimization target, and the minimum value is set to 0.3 to ensure that the optimized structure can reduce weight while retaining sufficient strength.

3. The lightweight design method for hydraulic biped robot mechanical legs based on topology optimization according to claim 2 is characterized in that: The thigh material is 7075 aluminum alloy, which has low density and high strength and is suitable for lightweight requirements.

4. The lightweight design method for hydraulic biped robot mechanical legs based on topology optimization as claimed in claim 1, characterized in that: In S2, when optimizing the topological structure of the mechanical leg, the material distribution inside the product is optimized to improve the performance of the parts, reduce the manufacturing cost and improve the production efficiency. For the thigh structure of the biped robot, the variable density method is used for topological optimization, and the lightweight design is achieved by meshing the model and increasing or decreasing the units. The initial mass of the mechanical thigh is 1102.2g. During the topological optimization, some areas are selected for optimization, and the key structures are kept unchanged.

5. The lightweight design method for hydraulic biped robot mechanical legs based on topology optimization as claimed in claim 1, characterized in that: The S3 includes: by adjusting the grid density and the minimum size, four different topological structures are obtained for comparative analysis; the optimization result of the final scheme three best meets the design requirements, the mass is reduced and the displacement deformation is significantly reduced, and the strength and stiffness requirements are met; therefore, scheme three is selected as the final optimization scheme, and simulation verification is carried out to confirm its superiority and feasibility.

6. A hydraulic biped robot mechanical leg lightweight design system based on topology optimization based on the hydraulic biped robot mechanical leg lightweight design method based on topology optimization as described in claims 1-5, characterized in that: The system specifically includes: The model definition module defines the three-dimensional geometric model based on the existing biped robot leg space; The topology optimization module is connected with the model definition module to improve the establishment of the finite element model and complete the definition of topology optimization parameters for topology optimization and post-processing design; The result analysis module is connected with the topology optimization module. Through the result analysis, the best configuration is selected for simulation analysis.

7. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the lightweight design method of the hydraulic biped robot mechanical leg based on topology optimization as described in any one of claims 1-5.

8. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the steps of the method for lightweight design of hydraulic biped robot mechanical legs based on topology optimization as described in any one of claims 1 to 5.

9. An information data processing terminal, characterized in that: The information data processing terminal is used to implement the lightweight design system of the hydraulic biped robot mechanical legs based on topology optimization as described in claim 6.

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