TY - GEN
T1 - Lightweight Design and Modal Analysis of Calf Structure of Hydraulic Biped Robot
AU - Zhang, Jianrui
AU - Yuan, Zhaohui
AU - Yuan, Weidong
AU - Dong, Sheng
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/10
Y1 - 2020/10/10
N2 - Taking the lower limbs of a hydraulic biped robot as the research object, the lightweight structure of its calf structure is designed. According to the characteristics of the humanoid robot, we determine the size and shape of the calf structure that meets the function; on this basis, designs the initial structure of the calf, uses ANSYS Workbench software for topology optimization, and performs static analysis and modal analysis on the optimized structure. The static and dynamic characteristics of the robot under the maximum load are obtained; the model of the lower limb structure is optimized and reconstructed, the optimized model is tested, and the weight is reduced by 57.4% under the condition of satisfying the mechanical properties. To achieve the purpose of lightweight, the study provides a theoretical basis for the optimal design of hydraulic biped robot and 3D printing.
AB - Taking the lower limbs of a hydraulic biped robot as the research object, the lightweight structure of its calf structure is designed. According to the characteristics of the humanoid robot, we determine the size and shape of the calf structure that meets the function; on this basis, designs the initial structure of the calf, uses ANSYS Workbench software for topology optimization, and performs static analysis and modal analysis on the optimized structure. The static and dynamic characteristics of the robot under the maximum load are obtained; the model of the lower limb structure is optimized and reconstructed, the optimized model is tested, and the weight is reduced by 57.4% under the condition of satisfying the mechanical properties. To achieve the purpose of lightweight, the study provides a theoretical basis for the optimal design of hydraulic biped robot and 3D printing.
UR - http://www.scopus.com/inward/record.url?scp=85099067741&partnerID=8YFLogxK
U2 - 10.1109/CYBER50695.2020.9278966
DO - 10.1109/CYBER50695.2020.9278966
M3 - 会议稿件
AN - SCOPUS:85099067741
T3 - 10th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2020
SP - 146
EP - 151
BT - 10th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2020
Y2 - 10 October 2020 through 13 October 2020
ER -