Lightweight Design And Experimental Study Of Lower Limb Structure Of Biped Robot Based On Generative Design

Biped robots have always been a hot topic in the field of robotics research.In recent years,the development of biped robot bionic structure design,biped robot efficient gait control algorithm and human-computer interaction has been very rapid.In this paper,for the related problems of lack of exercise ability and flexibility in the field of biped robots,the purpose of lightweighting important parts of robots is to use the generative design method to design a lighter structure of thigh and calf.The optimized model was simulated and experimentally studied.Firstly,based on the structure and size distribution of the lower limbs of the human body,the degree of freedom configuration and joint structure design of the biped robot were carried out,and the lower limb structure model of the biped robot was established.Secondly.according to the lower limb structure model of the biped robot,the robot's flat walking gait planning is completed.Then,according to the gait planning data,the robot's flat walking gait simulation is completed in the ADAMS virtual prototype platform,and the joint speed of the robot is obtained.The torque value is based on the knee joint as an example to complete the selection of the joint motor,the harmonic reducer and the pulley.and provides a reference for the generative design of the thigh model and the calf model.According to the lower limb structure model and joint force of the biped robot,a plurality of generative design models satisfying the design requirements are obtained by the generative design method for the thigh structure and the calf structure of the biped robot.After choosing the best solution.Then the structural strength and stiffness simulation analysis of the selected model is carried out.The rationality of the generative design model is verified by the simulation analysis.After the generative design model is obtained.the assembly is completed in the three-dimensional model of the biped robot,and the walking simulation is performed again in the ADAMS.The effectiveness of the lightweight design of the generative design model is verified by comparing the joint speed and torque.Finally,a single joint test bench for biped robots was designed,and the driving components and mechanical structure performance of the robot were tested.Further,metal-derived 3D printing was used to print the generative design model of the calf structure and compared with the initial design of the calf structure.The results show that the calf model using the generative design has a smaller operating current at the same voltage and speed.It has a significant effect on the improvement of the performance of the biped robot and the reduction of energy consumption.Theoretical analysis and experimental results show that the model obtained by the generative design can meet the performance requirements under the condition of weight reduction,and the goal of lightweight design of the robot is completed.