Methods for lightweight design of mechanical components in humanoid robots
Methods for lightweight design of mechanical components in humanoid robots
复制标题
仿人机器人机械部件轻量化设计方法
DOI：
10.1109/ichr.2007.4813934
复制
发表时间：
2007
期刊：
影响因子：
--
通讯作者：
P. Haeussler
中科院分区：
文献类型：
--
作者：
A. Albers;J. Ottnad;H. Weiler;P. Haeussler
随着仿人机器人的发展，轻量化结构和能源效率发挥了重要作用，因为这些移动的，动力系统必须自给自足。在开发过程中应用计算机辅助（CAE）方法是实现所需重量减轻的一种可能性。在ARMAR III机器人拓扑优化的基础上，提出了一种扩展的基于系统的动态机电一体化系统拓扑优化方法。不同的分析领域，即混合多体系统动力学（MBS），有限元分析（FEA），控制系统仿真和拓扑优化集成到一个简单的，自动的方式。对于纤维增强复合材料在此类零件中的应用，提出了一种基于有限元的确定铺层方向和厚度关系的方法。
With the development of humanoid robots, lightweight construction and energy efficiency play an important role as these mobile, dynamic systems have to work self-sufficiently. The application of computer-aided (CAE) methods in the development process is one possibility to achieve the required weight reduction. On the basis of a classical topology optimization carried out on the robot ARMAR III, an extended system-based method for dynamic, mechatronic systems is presented. Different analysis domains, namely hybrid multibody system dynamics (MBS), finite element analysis (FEA), control system simulation and topology optimization are integrated into a straightforward, automatic way. For the use of fiber reinforced composite materials in such parts, a FE-based method for the determination of ply orientations and thickness relations is presented.