Design and Rapid Prototyping Technology of Lightweight Structure of Humanoid Robot Thigh
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摘要: 在先进仿人机器人的研制中，结构轻量化是其设计的关键。本文基于仿生学原理，依据人体股骨的CT扫描曲面设计了一种仿生机器人大腿；在大腿内部建立了沿竖直应力线方向的非对称空间四面体网格结构以实现其轻量化，再根据实际工况的静力学仿真结果对空间网格的不同位置进行疏密优化；最后采用选区激光熔融技术，在其内部网格不放置支撑的情况下3D打印了机器人大腿下端，以验证实心与空间网格嵌合体结构的可制造性。优化后的腿部重量比实心体大为减少，内部优化网格结构的应力峰值较优化前显著下降。3D打印出的制件完整良好，达到设计要求。为仿人机器人设计与制造提供了一种新思路。Abstract: Structural lightweight is the key of design for advanced humanoid robots. Based on the bionics theory, a bionic robots thigh is designed according to the CT scanning surface of human femur. An non-periodic structure tetrahedron grid along the vertical stress line is built in the inner thigh to achieve its lightweight, and then the spatial grid is optimized at different positions according to the simulation results of actual working condition via static finite element method. Finally, the selective laser melting technology was used to 3D printing the extremitas inferior of the robots thigh without supports on the inner grid to verify the manufacturability of the solid and spatial grid chimera structure. The optimal thigh weight is much less than the solid body, and the stress peak of the internal optimal grid structure is significantly lower than that of the pre-optimal structure. The 3D printing parts are complete and well designed. It provides a new idea for designing and manufacturing the humanoid robots.
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Key words:
- robot thigh /
- lightweight structure /
- spatial grid structure /
- selective laser melting
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表 1 内嵌体应力峰值与孔隙率比较
内嵌体 实心 网格 优化网格后 工况1应力峰值/MPa 4.84 23.12 20.86 工况2应力峰值/MPa 7.71 29.19 24.48 工况3应力峰值/MPa 13.29 48.17 44.60 内嵌体圆柱数/根 0 2 770 3 592 体积/mm3 877 063 165 491 190 508 孔隙率/% 0 81.14 78.28 
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