CN114036653A - Bionic leg and foot and trunk structure design method based on topology optimization technology - Google Patents
Bionic leg and foot and trunk structure design method based on topology optimization technology Download PDFInfo
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Abstract
The invention discloses a bionic leg and foot and trunk structure design method based on a topological optimization technology. According to the invention, a leg structure resource library system and a trunk structure resource library system are constructed, and compared with the overall design requirements and the function introduction information in the structure resource library system, a proper module can be quickly selected to form a preliminary design scheme of the structure configuration of the leg and the leg trunk. And then, establishing a robot overall dynamic analysis model by utilizing a modeling tool, and carrying out dynamic analysis and structure refinement analysis on the model to obtain the stress and strain of the legs and the trunk. And (3) gradually obtaining the optimized leg structure and trunk structure based on the multi-objective progressive structure topological optimization method. The stress and strain of the optimized leg-foot structure and the trunk structure can meet the use requirements of the robot, meanwhile, the leg-foot bearing ratio and the trunk bearing ratio are both greatly improved, the weight is greatly reduced, the bearing capacity of the quadruped robot is greatly improved, and the weight of the quadruped robot is reduced.
Description
Technical Field
The invention relates to the technical field of intelligent bionic foot type robots, in particular to a bionic leg and foot and trunk structure design method based on a topology optimization technology.
Background
The robot is known as the pearl on the top of the manufacturing crown, the development of the robot industry has very important significance for improving innovation capability, enhancing national comprehensive strength and driving overall economic development, and the robot technical innovation and the industrial development are important contents in China.
As the most important development of the intelligent mobile service robot in the future, the quadruped robot with smart maneuvering and autonomous operation is becoming the landmark research hotspot of the next generation intelligent mobile robot, and all countries around the world are developing without losing the strength. In 2009, China started project demonstration of high-performance quadruped robots. 2011 successive development project support such as ' high-performance quadruped robot ' and ' army ' accompanying guarantee quadruped robot '. In China, special fund support is set in projects such as a special robot plan of the army, a national key research and development plan of the department of science and technology, a major research plan of the natural fund committee co-fusion robot and the like, and the special fund support is intended to be developed vigorously and to exceed the world level.
At present, the technical problems of low bearing capacity and large weight commonly exist in the aspect of quadruped robots at home and abroad, and the requirement of the quadruped robots on the capacity of civil application is difficult to meet, so that the bearing ratio of the bionic legs and feet and the trunk needs to be improved and the weights of the bionic legs and feet and the trunk need to be reduced through structural design.
Disclosure of Invention
The invention aims to provide a bionic leg and foot and trunk structure design method based on a topological optimization technology, which is used for solving the technical problems of low bearing capacity and heavy weight of a foot type robot in the prior art.
In order to achieve the purpose, the bionic leg and foot and trunk structure design method based on the topology optimization technology adopts the following technical scheme:
a bionic leg and foot and trunk structure design method based on a topological optimization technology comprises the following steps of firstly, providing a preliminary design scheme of leg and trunk structure configurations; secondly, establishing a robot overall dynamic analysis model according to the proposed preliminary design scheme of the leg and trunk structure configuration, and performing dynamic analysis, leg structure refinement analysis and trunk structure refinement analysis on the established overall dynamic analysis model; thirdly, optimally designing a leg structure and a trunk structure by a multi-objective progressive structure topological optimization method to obtain the optimized leg structure and the optimized trunk structure; fourthly, verifying the optimized leg structure and trunk structure, entering the next step if the verification result meets the design requirement, and adjusting the parameters of the third step and carrying out multi-target progressive structure topological optimization again if the verification result cannot meet the design requirement; and fifthly, taking the optimized structure in the third step as a final result and outputting the final result.
In the first step, a leg structure and a trunk structure are subjected to module division to form a leg structure resource library system and a trunk structure resource library system, function introduction information corresponding to corresponding modules in one-to-one mode is stored in the leg structure resource library system and the trunk structure resource library system, overall design requirements are compared with the function introduction information, a proper module is selected, and a preliminary design scheme of the structure configurations of the legs and the trunk is provided based on the selected module.
In the first step, the modules include a primary classification module, a secondary classification module, and a tertiary classification module, each primary classification module includes one or more secondary classification modules, each secondary classification module includes one or more tertiary classification modules, and each specific option in the tertiary classification module corresponds to a part name finally constituting a leg structure/trunk structure one to one.
The general design requirements comprise integration requirements, light weight requirements, quick-release modularization requirements and drive integration level requirements, and the function introduction information comprises information integration level, light weight level, quick-release modularization level and drive integration level.
The degree of each type of function introduction information is represented numerically in a quantized manner.
In the second step, when the model is subjected to overall dynamics analysis, three initial conditions are respectively applied to the model, wherein the three initial conditions respectively correspond to the stress condition of the model when the model moves on a rigid road surface, the stress condition when the model walks on a soft soil road surface and the stress condition when the model encounters external disturbance; and respectively carrying out leg structure refinement analysis and trunk structure refinement analysis aiming at the initial conditions to obtain stress and strain conditions of the leg structure and the trunk structure under different initial conditions.
In the third step, the optimization targets comprise the maximum bearing ratio, the solving result of the second step which can be satisfied by stress and strain, and the lightest weight.
And under the condition that the maximum bearing ratio is in conflict with the lightest weight, outputting a structure corresponding to the maximum value obtained by weighting and summing the bearing ratio and the weight as a final result.
And the verification step in the fourth step comprises the steps of regenerating an optimized robot overall dynamics model aiming at the optimized leg structure and trunk structure, calculating the bearing ratio and weight of the legs and the bearing ratio and weight of the trunk aiming at the optimized model, and respectively carrying out dynamics analysis, leg structure refinement analysis and trunk structure refinement analysis under the three initial conditions so as to obtain the stress and strain conditions of the leg structure and the trunk structure under different initial conditions, and entering the fifth step if the bearing ratio, weight, stress and strain of the legs and the trunk can meet the design requirements.
The method of the invention has the following advantages: according to the invention, a leg structure resource library system and a trunk structure resource library system are constructed, and compared with the overall design requirements and the function introduction information in the structure resource library system, a proper module can be quickly selected to form a preliminary design scheme of the structure configuration of the leg and the trunk. And then, establishing a robot overall dynamic analysis model by utilizing a modeling tool, and carrying out dynamic analysis and structure refinement analysis on the model to obtain the stress and strain of the legs and the trunk. And (3) gradually obtaining the optimized leg structure and trunk structure based on the multi-objective progressive structure topological optimization method. The verification proves that the stress and strain of the optimized leg-foot structure and the optimized trunk structure can meet the use requirements of the robot, meanwhile, the leg-foot bearing ratio and the trunk bearing ratio are both greatly improved, the weight is greatly reduced, the bearing capacity of the quadruped robot is greatly improved, and the weight of the quadruped robot is reduced.
According to the method, when the model is subjected to overall dynamics analysis, three initial conditions are applied to the model respectively, and overall dynamics analysis, leg structure refinement analysis and trunk structure refinement analysis are performed on the three initial conditions respectively, so that the optimized model can well walk on a rigid road surface and a soft soil road surface and can be kept stable when encountering external disturbance.
Drawings
Fig. 1 is a flow chart of the bionic leg and foot and trunk structure design method based on topology optimization technology.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below in connection with specific embodiments, but it should be understood by those skilled in the art that the embodiments described below are only for illustrating the present invention and should not be construed as limiting the scope of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the bionic leg and foot and trunk structure design method based on the topology optimization technology comprises the following steps:
the invention relates to a bionic leg-foot and trunk structure design method based on topology optimization technology, which comprises the following steps:
the method comprises the steps of firstly, carrying out module division on a leg structure and a trunk structure, forming a leg structure resource library system and a trunk structure resource library system, storing function introduction information corresponding to corresponding modules in the leg structure resource library system and the trunk structure resource library system, comparing the overall design requirements with the function introduction information, selecting a proper module, and providing a preliminary design scheme of the structure configuration of legs and trunks based on the module.
In this step, the modules include a first-level classification module, a second-level classification module and a third-level classification module, the first-level classification module includes one or more second-level classification modules, the second-level classification module includes one or more third-level classification modules, and the final purpose of the module is to ensure that each specific option in the next-level classification module corresponds to the part name finally forming the leg structure/trunk structure. In other embodiments, the number of stages of the modules may be more or less according to a specific division manner.
In this step, the overall design requirements include integration requirements, lightweight requirements, quick release modularization requirements, and drive integration requirements. Accordingly, the function introduction information also includes information integration degree, light weight degree, quick-release modularization degree and drive integration degree, and can be represented in a quantified mode by numbers according to the degree of each type of information, so that the proposing period of the preliminary design scheme of the structural configuration of the legs and the trunk can be further shortened. Of course, in other embodiments, the degree of each type of information may not be digitally quantized.
In other embodiments, the leg structure resource library system and the trunk structure resource library system may not be established, and a preliminary design scheme of the leg and trunk structure configuration may be proposed according to the experience of a designer or by other methods, but the following disadvantages exist when the method is used: firstly, the efficiency is low, and secondly, the requirement on the professional level of designers is high.
And secondly, establishing a robot overall dynamic analysis model according to the proposed preliminary design scheme of the leg and trunk structure configuration, and performing dynamic analysis, leg structure refinement analysis and trunk structure refinement analysis on the established overall dynamic analysis model.
The second step specifically comprises:
201. and (3) establishing a robot overall dynamic analysis model by using an ANSYS tool in a top-down collection mode, and performing grid division.
In this step, the closer to the joint, the higher the mesh density is when the mesh division is performed.
202. And performing dynamic analysis, leg structure refinement analysis and trunk structure refinement analysis on the established integral dynamic analysis model.
In the step, three different initial conditions are applied to the model during dynamic analysis, and the three initial conditions respectively correspond to the stress condition of the model when the model moves on a rigid road surface, the stress condition when the model walks on a soft soil road surface and the stress condition when the model encounters external disturbance.
And respectively carrying out leg structure fine analysis and trunk structure fine analysis according to the three initial conditions to obtain stress and strain conditions of the leg structure and the trunk structure under different initial conditions. And the dynamic analysis and the structure refinement analysis are respectively carried out according to the three initial conditions, so that the adaptability of the robot to insufficient terrain can be improved. It is understood that the initial conditions applied to the model are not limited to the above three conditions, and in other embodiments, the initial conditions applied to the model should follow the change of the working condition adaptability defined by the use range of the robot.
And thirdly, optimally designing the leg structure and the trunk structure by a multi-objective progressive structure topological optimization method to obtain the optimized leg structure and the optimized trunk structure.
In the step, invalid or low-efficiency materials are gradually removed through a multi-objective progressive structure topological optimization method, and the rest structure can effectively bear loads, so that stress distribution is more uniform, and the lightweight of legs, feet and a trunk with high bearing ratio is realized. The optimization target comprises the maximum bearing ratio, the stress and the strain energy which meet the solving result in the second step and the lightest weight, under the condition that the maximum bearing ratio is in conflict with the lightest weight, the structure corresponding to the maximum value obtained by weighting and summing the bearing ratio and the weight is taken as a final result to be output, and the weight of the bearing ratio and the weight is required to be determined according to the actual situation.
And fourthly, regenerating an optimized robot overall dynamic model aiming at the optimized leg structure and the optimized trunk structure, calculating the bearing ratio and weight of the legs and the bearing ratio and weight of the trunk aiming at the optimized model, and respectively carrying out dynamic analysis, leg structure fine analysis and trunk structure fine analysis under the three initial conditions so as to obtain the stress and strain conditions of the leg structure and the trunk structure under different initial conditions. In the step, if the bearing ratio, weight, stress and strain of the legs and the trunk can meet the design requirements, the fifth step is carried out; otherwise, modifying the parameters in the third step and repeating the third step.
And fifthly, taking the optimized structure in the third step as a final result and outputting the final result.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (9)
1. A bionic leg and foot and trunk structure design method based on topology optimization technology is characterized in that: the method comprises the following steps of firstly, providing a preliminary design scheme of the structural configurations of legs and a trunk; secondly, establishing a robot overall dynamic analysis model according to the proposed preliminary design scheme of the leg and trunk structure configuration, and performing dynamic analysis, leg structure refinement analysis and trunk structure refinement analysis on the established overall dynamic analysis model; thirdly, optimally designing a leg structure and a trunk structure by a multi-objective progressive structure topological optimization method to obtain the optimized leg structure and the optimized trunk structure; fourthly, verifying the optimized leg structure and trunk structure, entering the next step if the verification result meets the design requirement, and adjusting the parameters of the third step and carrying out multi-target progressive structure topological optimization again if the verification result cannot meet the design requirement; and fifthly, taking the optimized structure in the third step as a final result and outputting the final result.
2. The method for designing bionic leg and foot and trunk structures based on topology optimization technology according to claim 1, wherein the method comprises the following steps: in the first step, a leg structure and a trunk structure are subjected to module division to form a leg structure resource library system and a trunk structure resource library system, function introduction information corresponding to corresponding modules in one-to-one mode is stored in the leg structure resource library system and the trunk structure resource library system, overall design requirements are compared with the function introduction information, a proper module is selected, and a preliminary design scheme of the structure configurations of the legs and the trunk is provided based on the selected module.
3. The method for designing bionic leg and foot and trunk structures based on topology optimization technology according to claim 2, wherein the method comprises the following steps: in the first step, the modules include a primary classification module, a secondary classification module, and a tertiary classification module, each primary classification module includes one or more secondary classification modules, each secondary classification module includes one or more tertiary classification modules, and each specific option in the tertiary classification module corresponds to a part name finally constituting a leg structure/trunk structure one to one.
4. The method for designing bionic leg and foot and trunk structures based on topology optimization technology according to claim 2, wherein the method comprises the following steps: the general design requirements comprise integration requirements, light weight requirements, quick-release modularization requirements and drive integration level requirements, and the function introduction information comprises information integration level, light weight level, quick-release modularization level and drive integration level.
5. The method for designing bionic leg and foot and trunk structures based on topology optimization technology according to claim 4, wherein the method comprises the following steps: the degree of each type of function introduction information is represented numerically in a quantized manner.
6. The method for designing bionic leg and foot and trunk structures based on topology optimization technology according to claim 1, wherein the method comprises the following steps: in the second step, when the model is subjected to overall dynamics analysis, three initial conditions are respectively applied to the model, wherein the three initial conditions respectively correspond to the stress condition of the model when the model moves on a rigid road surface, the stress condition when the model walks on a soft soil road surface and the stress condition when the model encounters external disturbance; and respectively carrying out leg structure refinement analysis and trunk structure refinement analysis aiming at the initial conditions to obtain stress and strain conditions of the leg structure and the trunk structure under different initial conditions.
7. The method for designing bionic leg and foot and trunk structures based on topology optimization technology according to claim 1, wherein the method comprises the following steps: in the third step, the optimization targets comprise the maximum bearing ratio, the solving result of the second step which can be satisfied by stress and strain, and the lightest weight.
8. The method for designing bionic leg and foot and trunk structures based on topology optimization technology according to claim 7, wherein the method comprises the following steps: and under the condition that the maximum bearing ratio is in conflict with the lightest weight, outputting a structure corresponding to the maximum value obtained by weighting and summing the bearing ratio and the weight as a final result.
9. The method for designing bionic leg and foot and trunk structures based on topology optimization technology according to claim 7, wherein the method comprises the following steps: and the verification step in the fourth step comprises the steps of regenerating an optimized robot overall dynamics model aiming at the optimized leg structure and trunk structure, calculating the bearing ratio and weight of the legs and the bearing ratio and weight of the trunk aiming at the optimized model, and respectively carrying out dynamics analysis, leg structure refinement analysis and trunk structure refinement analysis under the three initial conditions so as to obtain the stress and strain conditions of the leg structure and the trunk structure under different initial conditions, and entering the fifth step if the bearing ratio, weight, stress and strain of the legs and the trunk can meet the design requirements.
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Inventor after: Yang Haifeng Inventor before: Yang Haifeng Inventor before: Liu Zhenyu Inventor before: Gao Lianguo Inventor before: Sun Junda Inventor before: Gao Feng Inventor before: Li Pengfei |