Design method and system of bionic robot part, medium and computer
The method optimizes biomimetic robot leg design through finite element and topology analysis to reduce weight and improve stability, addressing the challenge of rotational inertia in large-sized six-legged robots for reliable operation in complex terrains.
Patent Information
- Application Number
- CN202311520277.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-15
- Publication Date
- 2025-07-15
AI Technical Summary
The existing six-legged bionic robots have large legs, resulting in poor motion stability and difficulty in walking efficiently in complex environments.
By constructing a conceptual design model for bionic robot parts, finite element analysis and iterative optimization, topological optimization is used to reduce leg quality and improve structural strength and stiffness.
It realizes the lightweight design of bionic robot parts, improves movement stability and ability to adapt to complex environments, and meets the needs of missions such as field reconnaissance, underwater search and space exploration.
Smart Images
Figure CN120317039A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of additive manufacturing, and particularly relates to a design method, system, medium and computer for bionic robot parts. Background Art
[0002] With the continuous development of human exploration of the natural world, the demand for robots that can move freely in complex environments is becoming increasingly widespread in various fields. Hexapod bionic robots have relatively strong adaptability to terrain, can walk efficiently on complex ground surfaces, and have redundant limb structures, so they can continue to perform certain tasks even when several limbs are lost. Therefore, hexapod bionic robots are more suitable for performing tasks that require high reliability and autonomy of robots, such as field reconnaissance, underwater search, and space exploration. The leg bionic hexapod robot with a larger size has a larger volume and mass. When the leg mass is larger, the moment of inertia generated during movement is larger, which has a greater impact on the smoothness of movement. Therefore, how to reduce the leg mass is one of the key issues faced by bionic hexapod spiders. Summary of the Invention
[0003] Based on this, the purpose of the present invention is to provide a design method, system, medium and computer for bionic robot parts to at least solve the deficiencies in the above technologies.
[0004] The present invention provides a design method for bionic robot parts, including: Constructing a conceptual design model of bionic robot parts, and performing finite element analysis on the structure of the conceptual design model to obtain a finite element analysis result corresponding to the conceptual design model; Defining optimization parameters for the finite element analysis result, and using the optimization parameters to perform iterative optimization on the finite element analysis result to obtain a corresponding iterative optimization result; Repairing the conceptual design model based on the iterative optimization result to obtain a concept optimization model, and performing static analysis on the concept optimization model to obtain a static analysis result corresponding to the concept optimization model; Performing comparative analysis on the performance parameters of the strength, stiffness, mode, fatigue life, and fatigue life safety factor of the conceptual design model and the concept optimization model to obtain performance optimization parameters; Performing topology optimization on the concept optimization model using the optimization parameters to establish a design model of the bionic robot parts.
[0005] Further, the step of performing finite element analysis on the structure of the conceptual design model to obtain a finite element analysis result corresponding to the conceptual design model includes: Extracting the structural parameters of the conceptual design model, where the structural parameters include material properties, model data, and load data; Perform finite element analysis on the conceptual design model based on the structural parameters to obtain the finite element analysis results of the conceptual design model.
[0006] Furthermore, the steps for comparative analysis of the performance parameters of strength, stiffness, mode, fatigue life, and fatigue life safety factor of the conceptual design model and the conceptual optimization model to obtain performance optimization parameters include: Extract the performance parameters of strength, stiffness, mode, fatigue life, and fatigue life safety factor of the conceptual design model and the conceptual optimization model, and conduct comparative analysis of each performance parameter with the preset parameter requirements; If the performance parameters meet the preset parameter requirements, complete the topology optimization of the conceptual optimization model; If the performance parameters do not meet the preset parameter requirements, adjust the performance parameters and repeat the steps of defining the optimization parameters of the finite element analysis results.
[0007] Furthermore, the steps for performing topology optimization on the conceptual optimization model using the optimization parameters to establish the design model of the bionic robot part include: Based on the volume or mass constraint conditions of the optimization parameters, and perform minimum compliance solution on the conceptual optimization model according to the volume or mass constraint conditions; Based on the SIMP method of variable density theory and the minimum compliance, establish a mathematical model for the periodic topology optimization problem.
[0008] The present invention also proposes a design system for a bionic robot part, including: A model construction module for constructing a conceptual design model of a bionic robot part and performing finite element analysis on the structure of the conceptual design model to obtain the corresponding finite element analysis results of the conceptual design model; An iterative optimization model for defining the optimization parameters of the finite element analysis results and performing iterative optimization on the finite element analysis results using the optimization parameters to obtain the corresponding iterative optimization results; A static analysis model for repairing the conceptual design model based on the iterative optimization results to obtain a conceptual optimization model, and performing static analysis on the conceptual optimization model to obtain the corresponding static analysis results of the conceptual optimization model; A comparative analysis module for performing comparative analysis on the performance parameters of strength, stiffness, mode, fatigue life, and fatigue life safety factor of the conceptual design model and the conceptual optimization model to obtain performance optimization parameters; A topology optimization module, configured to perform topology optimization on the conceptual optimization model by using the optimization parameters to establish a design model of the bionic robot part.
[0009] Further, the model construction module includes: A parameter extraction unit, configured to extract structural parameters of the conceptual design model, where the structural parameters include material properties, model data, and load data; A finite element analysis unit, configured to perform finite element analysis on the conceptual design model based on the structural parameters to obtain a finite element analysis result of the conceptual design model.
[0010] Further, the comparison and analysis module includes: A comparison and analysis unit, configured to extract performance parameters of the strength, stiffness, mode, fatigue life, and fatigue life safety factor of the conceptual design model and the conceptual optimization model, and perform a comparative analysis of each performance parameter with a preset parameter requirement; A first processing unit, configured to complete the topology optimization of the conceptual optimization model if the performance parameter meets the preset parameter requirement; A second processing unit, configured to adjust the performance parameter and repeat the step of defining the optimization parameter of the finite element analysis result if the performance parameter does not meet the preset parameter requirement.
[0011] Further, the topology optimization module includes: A model solving unit, configured to perform minimum compliance solving on the conceptual optimization model based on the volume or mass constraint condition of the optimization parameter and according to the volume or mass constraint condition; A model establishment unit, configured to establish a mathematical model of a periodic topology optimization problem based on the SIMP method of the variable density theory and the minimum compliance.
[0012] The present invention also provides a medium on which a computer program is stored, and when the program is executed by a processor, the design method of the bionic robot part described above is implemented.
[0013] The present invention also provides a computer, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the design method of the bionic robot part described above is implemented.
[0014] The design method, system, medium and computer of bionic robot parts in the present invention construct a conceptual design model for bionic robot parts, perform finite element analysis on its structure to obtain finite element analysis results, define optimization parameters for the finite element analysis results, use the optimization parameters to iteratively optimize the finite element analysis results, increase the accuracy of iterative optimization, repair the conceptual design model according to the iterative optimization results, and then obtain the performance parameters of the conceptual design model and the conceptual optimization model obtained by model repair, calculate and analyze the performance parameters to obtain performance optimization parameters, perform three-dimensional modeling on the optimization parameters and the designed structure, import key components or the overall structure into finite element software for finite element analysis, perform topology optimization on the results, and reconstruct the model of key parts according to the topology results. Description of the Drawings
[0015] Figure 1 It is a flowchart of the design method of bionic robot parts in the first embodiment of the present invention; Figure 2 For Figure 1 It is a detailed flowchart of step S102 in Figure 3 It is a structural diagram of the conceptual design model of bionic robot parts in the first embodiment of the present invention; Figure 4 It is a force load distribution diagram of the conceptual design model in the first embodiment of the present invention; Figure 5 It is a finite element analysis result diagram of the conceptual design model in the first embodiment of the present invention; Figure 6 It is a topology optimization result diagram of the conceptual design model in the first embodiment of the present invention; Figure 7 It is a three-dimensional structural diagram of the re-modeling of bionic robot parts in the first embodiment of the present invention; Figure 8 It is a static analysis result diagram of the three-dimensional structure after re-modeling of bionic robot parts in the first embodiment of the present invention; Figure 9 For Figure 1 It is a detailed flowchart of step S104 in Figure 10 For Figure 1 It is a detailed flowchart of step S105 in Figure 11 It is a flowchart of the topology optimization program in the first embodiment of the present invention; Figure 12 It is a structural block diagram of the design system of bionic robot parts in the second embodiment of the present invention; Figure 13 It is a structural block diagram of the computer in the third embodiment of the present invention.
[0016] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. Specific Embodiments
[0017] For ease of understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided so that the disclosure of the present invention is thorough and complete.
[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.
[0019] Embodiment 1 Please refer to Figure 1 , which shows the design method of the bionic robot part in the first embodiment of the present invention. The method specifically includes steps S101 to S105: S101. Construct a conceptual design model of the bionic robot part, and perform finite element analysis on the structure of the conceptual design model to obtain the finite element analysis result corresponding to the conceptual design model; Further, please refer to Figure 2 , and the step S101 specifically includes steps S1011 to S1012: S1011. Extract the structural parameters of the conceptual design model, where the structural parameters include material properties, model data, and load data; S1012. Perform finite element analysis on the conceptual design model based on the structural parameters to obtain the finite element analysis result of the conceptual design model.
[0020] In specific implementation, in this embodiment, the bionic six-legged spider leg mechanism is used as the bionic robot part. Specifically, a conceptual design model of the bionic six-legged spider leg mechanism is established in the 3D modeling SolidWorks software (as shown in Figure 3 ), and then the model is exported in a format recognizable by the topology optimization software; the established conceptual design model is imported into the topology optimization software, and then the parameters of the structure (material properties, model, load, etc.) are given to perform static analysis on the structure. In this embodiment, the parameters of aluminum alloy 1060 are assigned to the bionic six-legged spider joint connecting part 2, as well as Figure 4 the force load distribution. Some results of the static analysis are shown in the stress nephogram in Figure 5, finally, the static analysis solution results are transmitted to the topology optimization program. In this embodiment, the finite element analysis software selected is ANSYS.
[0021] S102, define the optimization parameters of the finite element analysis results, and use the optimization parameters to iteratively optimize the finite element analysis results to obtain the corresponding iterative optimization results; In specific implementation, first, define the optimization parameters in the topology optimization program, such as defining the percentage of material to be omitted, the number of load cases to be processed, the convergence tolerance, etc. After defining the optimization parameters, single iteration or automatic multiple iterations can be performed. After the iteration is completed, the convergence situation can be viewed and the current topology shape can be plotted. In this embodiment, the topology optimization results are shown in Figure 6 . It can be seen that there are many defects in the post-topology model. Therefore, in this embodiment, the model is reconstructed.
[0022] S103, repair the conceptual design model based on the iterative optimization results to obtain a conceptually optimized model, and perform static analysis on the conceptually optimized model to obtain the static analysis results corresponding to the conceptually optimized model; Furthermore, repair or reconstruct the model according to the topology optimization results, and then perform static analysis on it. In this embodiment, the three-dimensional structure of the bionic six-legged spider joint connecting part 2 after re-modeling is shown in Figure 7 , and some static analysis such as the stress nephogram is shown in Figure 8 .
[0023] S104, compare and analyze the performance parameters of the strength, stiffness, mode, fatigue life, and fatigue life safety factor of the conceptual design model and the conceptually optimized model to obtain performance optimization parameters; Furthermore, please refer to Figure 9 , the step S104 specifically includes steps S1041 to S1043: S1041, extract the performance parameters of the strength, stiffness, mode, fatigue life, and fatigue life safety factor of the conceptual design model and the conceptually optimized model, and compare and analyze each performance parameter with the preset parameter requirements; S1042, if the performance parameters meet the preset parameter requirements, complete the topology optimization of the conceptually optimized model; S1043, if the performance parameters do not meet the preset parameter requirements, adjust the performance parameters, and repeat the step of defining the optimization parameters of the finite element analysis results.
[0024] In specific implementation, performance parameters such as the strength, stiffness, mode, fatigue life, and fatigue life safety factor of the finite element model before and after topology optimization are compared and analyzed. If the relevant requirements are met, the topology optimization is completed; otherwise, the optimization parameters are adjusted, and steps S102 to S104 are repeatedly executed until the relevant performance requirements are satisfied.
[0025] S105. Perform topology optimization on the conceptual optimization model by using the optimization parameters to establish a design model of the bionic robot part.
[0026] Further, please refer to Figure 10 , and the specific steps of step S105 include steps S1051 to S1052: S1051. Based on the volume or mass constraint condition of the optimization parameters, solve for the minimum compliance of the conceptual optimization model according to the volume or mass constraint condition. S1052. Establish a mathematical model of the periodic topology optimization problem based on the SIMP method of the variable density theory and the minimum compliance.
[0027] In specific implementation, the finite element analysis software used in this embodiment is ANSYS, and the topology optimization program is a 99-line MATLAB program written according to the variable density method. The flowchart of the 99-line program is shown in Figure 11 . An optimization model is established by finding the minimum compliance, that is, the maximum stiffness, under volume or mass constraints. The mathematical model of the periodic topology optimization problem based on the SIMP method of the variable density theory can be expressed as: [Peng Zhu 1] Where: X - Element relative density vector C - Compliance of the structure F - Load vector U - Displacement vector K - Structural stiffness matrix - Element displacement vector - Element stiffness matrix - Initial segment element stiffness matrix - Element volume —— Optimized volume —— Retained volume fraction —— Initial volume —— Lower limit of the design variable value —— Upper limit of the design variable value —— Number of elements in the subdomain In the formula: F(x) is the objective function of the design variable; X is the design variable; g(X) is the state variable.
[0028] The design variable is the independent variable, and the optimization result is achieved by changing the value of the design variable. For each design variable, there are upper and lower limits, and the maximum and minimum values of each element in X must be specified, which defines the change range of the design variable; the state variable is the value that constrains the design and is a function of the design variable; the objective function is the minimum value of the function of the design variable. Specifically, different optimization algorithms and boundary constraint conditions can be designed according to different models or topology requirements to increase the accuracy of the topology.
[0029] Specifically, different optimization algorithms and boundary constraint conditions can be designed according to different models or topology requirements to increase the accuracy of the topology.
[0030] The bionic six-legged spider prepared by this embodiment divides its six legs into two groups during the walking motion. Among them, the front leg, hind leg on one side of the robot and the middle leg on the other side are grouped into one group, and the remaining three legs form another group. And the legs of the biological spider are simplified, and each leg has three degrees of freedom. During walking, one group of legs lifts off the ground while the other group touches the ground, and the robot moves forward or turns during the leg-swinging process. Each joint on each leg is controlled separately by a motor, which are located at the hip joint, knee joint and ankle joint of the leg respectively. The coxa is connected to the body of the robot. The tibia is used to connect the joint parts to ensure excellent flexibility of movement. By controlling the motors at each joint, independent control of the joints can be achieved, and the walking feet of the robot can freely walk at any point within the reachable area. On the tip of the foot, a shock-absorbing device is composed of a chute, a sliding rod, a sliding cylinder and a spring. When walking on a bumpy road or when jitter occurs during walking, the piston spring in the shock absorber deforms, causing the inner friction between the groove and the slider to form a damping force on the vibration, and the relative position between the body itself and the ground remains unchanged. During the compression stroke, the damping force of the shock absorber is small to give full play to the elasticity of the elastic element and relieve the impact. At this time, the elastic element plays a major role. During the extension stroke, the damping force of the shock absorber is large to quickly dampen the vibration. The chute returns to its original position. These designs structurally ensure that the robot can walk in a walking manner similar to that of a spider and complete relatively complex walking motions. The designed structure is three-dimensionally modeled, and the key components or the overall structure are imported into finite element software for finite element analysis. The results are imported into a 99-line MATLAB topology optimization program written according to the variable density method, and then the optimization parameters are defined in the program. Finally, the key parts are re-modeled according to the topology results.
[0031] In summary, the design method of the bionic robot parts in the above embodiments of the present invention constructs a conceptual design model for the bionic robot parts, performs finite element analysis on its structure to obtain finite element analysis results, defines the optimization parameters of the finite element analysis results, uses the optimization parameters to iteratively optimize the finite element analysis results, increases the accuracy of the iterative optimization, repairs the conceptual design model according to the iterative optimization results, and then calculates and analyzes the performance parameters of the conceptual design model and the conceptual optimization model obtained by model repair to obtain performance optimization parameters. The optimization parameters and the designed structure are three-dimensionally modeled, the key components or the overall structure are imported into finite element software for finite element analysis, the results are topologically optimized, and the key parts are re-modeled according to the topology results.
[0032] Embodiment 2 On the other hand, the present invention also proposes a design system for bionic robot parts. Please refer to Figure 12 , which shows the design system for bionic robot parts in the second embodiment of the present invention. The system includes: The model construction module 11 is used to construct a conceptual design model of the bionic robot parts and perform finite element analysis on the structure of the conceptual design model to obtain the finite element analysis result corresponding to the conceptual design model; Further, the model construction module 11 includes: The parameter extraction unit is used to extract the structural parameters of the conceptual design model, where the structural parameters include material properties, model data, and load data; The finite element analysis unit is used to perform finite element analysis on the conceptual design model based on the structural parameters to obtain the finite element analysis result of the conceptual design model.
[0033] The iterative optimization model 12 is used to define the optimization parameters of the finite element analysis result and use the optimization parameters to iteratively optimize the finite element analysis result to obtain the corresponding iterative optimization result; The static analysis model 13 is used to repair the conceptual design model based on the iterative optimization result to obtain a concept optimization model and perform static analysis on the concept optimization model to obtain the static analysis result corresponding to the concept optimization model; The comparative analysis module 14 is used to perform comparative analysis on the performance parameters of the strength, stiffness, mode, fatigue life, and fatigue life safety factor of the conceptual design model and the concept optimization model to obtain performance optimization parameters; Further, the comparative analysis module 14 includes: The comparative analysis unit is used to extract the performance parameters of the strength, stiffness, mode, fatigue life, and fatigue life safety factor of the conceptual design model and the concept optimization model and perform comparative analysis on each of the performance parameters with the preset parameter requirements; The first processing unit is used to complete the topology optimization of the concept optimization model if the performance parameters meet the preset parameter requirements; The second processing unit is used to adjust the performance parameters if the performance parameters do not meet the preset parameter requirements and repeat the step of defining the optimization parameters of the finite element analysis result.
[0034] The topology optimization module 15 is used to perform topology optimization on the concept optimization model by using the optimization parameters to establish the design model of the bionic robot parts.
[0035] Further, the topology optimization module 15 includes: The model solving unit is used to perform minimum compliance solving on the concept optimization model based on the volume or mass constraint conditions of the optimization parameters and according to the volume or mass constraint conditions. A model building unit is configured to establish a mathematical model of a periodic topology optimization problem based on the SIMP method of the variable density theory and the minimum compliance.
[0036] The functions or operation steps implemented when the above modules and units are executed are substantially the same as those in the above method embodiments, and will not be described in detail here.
[0037] The design system of the bionic robot parts provided by the embodiments of the present invention has the same implementation principle and technical effects as those in the foregoing method embodiments. For the sake of brief description, for the parts not mentioned in the system embodiments, reference may be made to the corresponding content in the foregoing method embodiments.
[0038] Embodiment III The present invention also proposes a computer. Please refer to Figure 12 , which shows the computer in the third embodiment of the present invention, including a memory 10, a processor 20, and a computer program 30 stored on the memory 10 and executable on the processor 20. When the processor 20 executes the computer program 30, the design method of the bionic robot parts described above is implemented.
[0039] Among them, the memory 10 includes at least one type of medium, and the medium includes flash memory, hard disk, multimedia card, card-type memory (such as SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. The memory 10 may be an internal storage unit of the computer in some embodiments, such as the hard disk of the computer. The memory 10 may also be an external storage device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 10 may also include both an internal storage unit of the computer and an external storage device. The memory 10 can be used not only to store application software installed on the computer and various types of data, but also to temporarily store data that has been output or will be output.
[0040] Among them, the processor 20 may be an Electronic Control Unit (ECU, also known as a vehicle computer), a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips in some embodiments, and is used to run the program code stored in the memory 10 or process data, such as executing an access restriction program.
[0041] It should be noted that Figure 12The structures shown do not constitute a limitation on the computer. In other embodiments, the computer may include fewer or more components than shown, or combine certain components, or have a different arrangement of components.
[0042] An embodiment of the present invention also provides a medium, on which a computer program is stored, and when the program is executed by a processor, it implements the design method of the bionic robot parts as described above.
[0043] Those skilled in the art can understand that the logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
[0044] More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection part (electronic device) having one or more wirings, a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other appropriate processing as necessary, and then stored in a computer memory.
[0045] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one of the following techniques known in the art or a combination thereof can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.
[0046] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as within the scope described in this specification.
[0047] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.
Claims
1. A design method for a bionic robot part, characterized in that, Including: Construct a conceptual design model of the bionic robot part, and perform finite element analysis on the structure of the conceptual design model to obtain the finite element analysis result corresponding to the conceptual design model; Define the optimization parameters of the finite element analysis result, and use the optimization parameters to iteratively optimize the finite element analysis result to obtain the corresponding iterative optimization result; Repair the conceptual design model based on the iterative optimization result to obtain a concept optimization model, and perform static analysis on the concept optimization model to obtain the static analysis result corresponding to the concept optimization model; Conduct a comparative analysis on the performance parameters of the strength, stiffness, mode, fatigue life, and fatigue life safety factor of the conceptual design model and the concept optimization model to obtain performance optimization parameters; Use the optimization parameters to perform topology optimization on the concept optimization model to establish the design model of the bionic robot part.
2. The design method of the bionic robot part according to claim 1, wherein, The steps of performing finite element analysis on the structure of the conceptual design model to obtain the finite element analysis result corresponding to the conceptual design model include: Extract the structural parameters of the conceptual design model, where the structural parameters include material properties, model data, and load data; Perform finite element analysis on the conceptual design model based on the structural parameters to obtain the finite element analysis result of the conceptual design model.
3. The design method of the bionic robot part according to claim 1, characterized in that The steps of conducting a comparative analysis on the performance parameters of the strength, stiffness, mode, fatigue life, and fatigue life safety factor of the conceptual design model and the concept optimization model to obtain performance optimization parameters include: Extract the performance parameters of the strength, stiffness, mode, fatigue life, and fatigue life safety factor of the conceptual design model and the concept optimization model, and conduct a comparative analysis of each performance parameter with the preset parameter requirements; If the performance parameters meet the preset parameter requirements, complete the topology optimization of the concept optimization model; If the performance parameters do not meet the preset parameter requirements, adjust the performance parameters and repeat the step of defining the optimization parameters of the finite element analysis result.
4. The design method of the bionic robot part according to claim 1, characterized in that The steps of using the optimization parameters to perform topology optimization on the concept optimization model to establish the design model of the bionic robot part include: Based on the volume or mass constraint conditions of the optimization parameters, and solve for the minimum compliance of the concept optimization model according to the volume or mass constraint conditions; Establish a mathematical model of the periodic topology optimization problem based on the SIMP method of the variable density theory and the minimum compliance.
5. A design system for bionic robot parts, characterized in that, Including: A model construction module for constructing a conceptual design model of the bionic robot part and performing finite element analysis on the structure of the conceptual design model to obtain the finite element analysis result corresponding to the conceptual design model; An iterative optimization model for defining the optimization parameters of the finite element analysis result and using the optimization parameters to iteratively optimize the finite element analysis result to obtain the corresponding iterative optimization result; A static analysis model is used to repair the conceptual design model based on the iterative optimization results to obtain a conceptually optimized model, and perform static analysis on the conceptually optimized model to obtain the static analysis results corresponding to the conceptually optimized model; A comparative analysis module is used to perform comparative analysis on the performance parameters of the strength, stiffness, mode, fatigue life, and fatigue life safety factor of the conceptual design model and the conceptually optimized model to obtain performance optimization parameters; A topology optimization module is used to perform topology optimization on the conceptually optimized model using the optimization parameters to establish a design model of the bionic robot part.
6. The design system of the bionic robot parts according to claim 5, characterized in that, The model construction module includes: A parameter extraction unit is used to extract the structural parameters of the conceptual design model, where the structural parameters include material properties, model data, and load data; A finite element analysis unit is used to perform finite element analysis on the conceptual design model based on the structural parameters to obtain the finite element analysis results of the conceptual design model.
7. The design system of the bionic robot parts according to claim 5, characterized in that, The comparative analysis module includes: A comparative analysis unit is used to extract the performance parameters of the strength, stiffness, mode, fatigue life, and fatigue life safety factor of the conceptual design model and the conceptually optimized model, and perform comparative analysis on each of the performance parameters with the preset parameter requirements; A first processing unit is used to complete the topology optimization of the conceptually optimized model if the performance parameters meet the preset parameter requirements; A second processing unit is used to adjust the performance parameters if the performance parameters do not meet the preset parameter requirements, and repeat the step of defining the optimization parameters of the finite element analysis results.
8. The design system of the bionic robot parts according to claim 5, characterized in that, The topology optimization module includes: A model solving unit is used to perform minimum compliance solving on the conceptually optimized model based on the volume or mass constraint conditions of the optimization parameters, and according to the volume or mass constraint conditions; A model establishment unit is used to establish a mathematical model of a periodic topology optimization problem based on the SIMP method of the variable density theory and the minimum compliance.
9. A medium on which a computer program is stored, characterized in that, When the program is executed by a processor, it implements the design method of the bionic robot part according to any one of claims 1 to 4.
10. A computer, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the design method of the bionic robot part according to any one of claims 1 to 4.