基于拓扑优化和晶格填充的四足机器人肢腿单元轻量化设计  

Lightweight Design of Limb Leg Units for Hydraulic Quadruped Robots by Topology Optimization and Lattice Filling

作　　者：纵怀志 艾吉昆 张军辉[1] 江磊[1,2] 谭树杰 刘余贤 苏琦 徐兵[1] ZONG Huaizhi;AI Jikun;ZHANG Junhui;JIANG Lei;TAN Shujie;LIU Yuxian;SU Qi;XU Bing(State Key Laboratory of and Mechatronic Systems,Zhejiang University,Hangzhou 230027;China North Artificial Intelligence and Innovation Research Institute,Beijing 100072;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016)

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,杭州230027 [2]中兵智能创新研究院,北京100072 [3]南京航空航天大学机电学院,南京210016

出　　处：《机械工程学报》2024年第4期420-429,共10页Journal of Mechanical Engineering

基　　金：国家自然科学基金(U21A20124);浙江省重点研发计划(2022C01039)项目资助。

摘　　要：液压四足机器人具有离散的落足点和较大的负重能力等特点,在无人监测、灾难救援和物资运输等场景中具有广阔的应用前景和重要的研究价值。作为四足机器人最关键的运动单元,肢腿单元的重量直接影响其动态性能。因此,根据肢腿单元的运动特点开展轻量化设计显得尤为重要。针对SpurlosⅡ肢腿单元的大腿结构存在较多冗余重量的问题,利用变密度惩罚法对其进行拓扑优化,通过基于B样条拟合二维切片轮廓的方法对优化后的网格型模型进行重构。针对模型重构带来的局部应力集中问题,引入晶格填充结构,实现局部优化。优化后,大腿部件的重量为1007.19 g,降低了36.01%;大幅度减重的同时,大腿部件的最大等效应力降低了1.41%。最后,优化后的肢腿单元在不同频率下的轨迹跟踪试验中表现出的更好的动态特性,证明所提出方法的有效性。Hydraulic actuated quadruped robots have bright application prospects and significant research values in unmanned area investigation,disaster rescue,material transport and other scenarios,due to their discrete landing positions and large payloads.As the most critical movement unit of a quadruped robot,the mass distribution of limb leg unit directly affects the dynamic performance of the robot,calling for a compact and lightweight design.This study focuses on the problem of excessive redundant weight in the thigh structure of the limb leg unit of SpurlosⅡrobot.The solid isotropic material with penalization algorithm is adopted to the thigh structure topology optimization,and the optimized mesh model is reconstructed using a method based on B-spline fitting approach for two-dimensional cross-sectional profiles.Then,to solve the problem of local stress concentration caused by model reconstruction,lattice filling structures are introduced to achieve further optimization.After optimization,the weight of the thigh structure component reduces by 36.01%to 1007.19 g,and its maximum equivalent stress decreases by 1.41%.Finally,the optimized leg limb unit demonstrated better dynamic performance in trajectory tracking experiments with different frequencies,proving the effectiveness of the proposed lightweight design method.

关 键 词：液压四足机器人 拓扑优化 晶格填充 模型重构 轻量化设计 

分 类 号：TH137[机械工程—机械制造及自动化]