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基于晶格结构单元的仿生机器人下肢轻量化研究

Research on lower limb lightweight of bionic robot based on lattice structure unit.

作者信息

Shen Huipeng, Wei Liujian, Zhang Tianyu, Zhang Xupeng, Zheng Zihao, Han Enjiang, Li Shaolong

机构信息

Henan Key Laboratory of Superhard Abrasives and Grinding Equipment, Henan University of Technology, Zhengzhou, 450001, China.

Engineering Research Center of Integration and Application of Digital Learning Technology, Ministry of Education, Beijing, 100081, China.

出版信息

Sci Rep. 2025 Aug 11;15(1):29316. doi: 10.1038/s41598-025-14679-5.

DOI:10.1038/s41598-025-14679-5
PMID:40789892
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC12340040/
Abstract

This study presents a lightweight design methodology for the lower limbs of bionic robots based on lattice structural units. Firstly, an innovative structure configuration library is created by applying topology optimization, and then the lattice structure is regularized. A specific stiffness standard has been established for evaluating the mechanical properties of the lattice structure. The mechanical properties of 20 lattice structural units under basic conditions, including compression, bending, and torsion, are analyzed. A new method for calculating weights in composite conditions is introduced to aid in selecting suitable lattice structures for complex scenarios. An experimental setup is constructed to verify the mechanical performance of the lattice structures. The Analytic Hierarchy Process (AHP) is utilized to analyze the loads on individual components and to determine the proportion of each condition in complex scenarios, thereby identifying the optimal lattice structure. Finally, this method is applied to the lightweight design of the lower limbs of a bionic quadruped robot, with experimental validation of its effectiveness. The research findings not only extend the scope of current lightweight design methods but also provide technical support and a data foundation for achieving the goals of high speed, precision, and lightweight in significant equipment development.

摘要

本研究提出了一种基于晶格结构单元的仿生机器人下肢轻量化设计方法。首先，通过应用拓扑优化创建了一个创新的结构配置库，然后对晶格结构进行正则化处理。建立了用于评估晶格结构力学性能的特定刚度标准。分析了20种晶格结构单元在压缩、弯曲和扭转等基本条件下的力学性能。引入了一种在复合条件下计算权重的新方法，以帮助为复杂场景选择合适的晶格结构。构建了一个实验装置来验证晶格结构的力学性能。利用层次分析法（AHP）分析单个部件上的载荷，并确定复杂场景中每种条件的比例，从而确定最佳晶格结构。最后，将该方法应用于仿生四足机器人下肢的轻量化设计，并通过实验验证了其有效性。研究结果不仅扩展了当前轻量化设计方法的范围，还为重大装备开发实现高速、精密和轻量化目标提供了技术支持和数据基础。

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