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

Abstract

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.