TY - GEN
T1 - Topology Optimization of Biped Robot Based on Rigid-flexible Coupling Dynamics
AU - Zhang, Lan
AU - Huang, Guanyu
AU - Zhu, Shiqiang
AU - Kong, Lingyu
AU - Xie, Anhuan
AU - Chen, Lingkai
AU - Zhang, Dan
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022/7
Y1 - 2022/7
N2 - Lightweight design is an important issue in the research of biped robots since it can improve the energy efficiency and economy. Topology optimization, mostly based on static analysis or multi-body dynamic analysis, has been widely used to reduce the weights of robots. However, when dealing with biped robots of high kinematic performance, the fixed constraints in static analysis often bring errors because the acceleration is not considered while multi-body dynamic analysis is time-consuming due to the complexity of calculation. To solve the problem of accuracy in statics analysis and efficiency in dynamic analysis, a topology optimization method based on rigid-flexible coupling dynamic analysis (R-FCDA) and inertia relief analysis (IRA) is proposed in this paper. R-FCDA is applied to obtain stress contours and loads on the joints. Before IRA is used to implement the topology optimization, the precision of the method proposed in this paper is checked by comparing the stress results of IRA with those obtained by R-FCDA. An example is given to elaborate on the mass-reducing ability of this method: The weights of thigh and shin of the biped robot are reduced by 15.69% and 9.09% respectively. The method can be an effective way to improve the performance of biped robots as well as structures with complex motion conditions.
AB - Lightweight design is an important issue in the research of biped robots since it can improve the energy efficiency and economy. Topology optimization, mostly based on static analysis or multi-body dynamic analysis, has been widely used to reduce the weights of robots. However, when dealing with biped robots of high kinematic performance, the fixed constraints in static analysis often bring errors because the acceleration is not considered while multi-body dynamic analysis is time-consuming due to the complexity of calculation. To solve the problem of accuracy in statics analysis and efficiency in dynamic analysis, a topology optimization method based on rigid-flexible coupling dynamic analysis (R-FCDA) and inertia relief analysis (IRA) is proposed in this paper. R-FCDA is applied to obtain stress contours and loads on the joints. Before IRA is used to implement the topology optimization, the precision of the method proposed in this paper is checked by comparing the stress results of IRA with those obtained by R-FCDA. An example is given to elaborate on the mass-reducing ability of this method: The weights of thigh and shin of the biped robot are reduced by 15.69% and 9.09% respectively. The method can be an effective way to improve the performance of biped robots as well as structures with complex motion conditions.
KW - Biped robot
KW - Inertia relief method
KW - Lightweight design
KW - Rigid-flexible coupling dynamics
KW - Topology optimization
UR - http://www.scopus.com/inward/record.url?scp=85136325740&partnerID=8YFLogxK
U2 - 10.1109/CACRE54574.2022.9834177
DO - 10.1109/CACRE54574.2022.9834177
M3 - Conference article published in proceeding or book
AN - SCOPUS:85136325740
T3 - Proceedings - 2022 7th International Conference on Automation, Control and Robotics Engineering, CACRE 2022
SP - 14
EP - 19
BT - Proceedings - 2022 7th International Conference on Automation, Control and Robotics Engineering, CACRE 2022
A2 - Zhang, Fumin
A2 - Chen, Guimin
A2 - Zhang, Lichuan
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Automation, Control and Robotics Engineering, CACRE 2022
Y2 - 15 July 2022 through 16 July 2022
ER -