Lightweight Design and Modal Analysis of Calf Structure of Hydraulic Biped Robot

摘要

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.