标题： 基于变密度法的建筑机器人腿结构拓扑优化 显示英文标题

标题： Topology Optimization of Leg Structures for Construction Robots Based on Variable Density Method

摘要： 在复杂地形施工环境中，机器人需要同时具备高载荷能力和移动灵活性，因此有较高的要求。 作为关键承重部件，机器人腿部结构的优化尤为重要。 因此，本研究聚焦于施工机器人腿部结构的优化，提出了一种基于SIMP（带惩罚的各向同性微结构）变密度方法的拓扑优化策略，并结合了结构再设计方法。 通过使用ANSYS进行有限元分析，全面验证了设计性能。 首先，进行了静态和模态分析，以评估初始设计的合理性。 然后，将基于SIMP的变密度方法应用于股骨部分，该部分占腿部重量的最大比例。 基于迭代计算，股骨进行了二次结构重构。 优化后，股骨的质量减少了19.45%，整个腿部质量减少了7.92%，实现了轻量化设计的目标。 最后，对重构后的腿部进行了静态和模态分析。 结果表明，优化后的腿部仍然满足结构性能要求，验证了轻量化设计的可行性。 本研究为轻量化施工机器人设计提供了坚实的理论和技术支持，并为其在复杂施工环境中的高效运行奠定了基础。 显示英文摘要

摘要： In complex terrain construction environments, there are high demands for robots to achieve both high payload capacity and mobility flexibility. As the key load-bearing component, the optimization of robotic leg structures is of particular importance. Therefore, this study focuses on the optimization of leg structures for construction robots, proposing a topology optimization strategy based on the SIMP (Solid Isotropic Microstructures with Penalization) variable density method along with a structural re-design approach. The design performance is comprehensively validated through finite element analysis using ANSYS. First, static and modal analyses are conducted to evaluate the rationality of the initial design. Then, topology optimization using the SIMP-based variable density method is applied to the femur section, which accounts for the largest proportion of the leg's weight. Based on iterative calculations, the femur undergoes secondary structural reconstruction. After optimization, the mass of the femur is reduced by 19.45\%, and the overall leg mass decreases by 7.92\%, achieving the goal of lightweight design. Finally, static and modal analyses are conducted on the reconstructed leg. The results demonstrate that the optimized leg still meets structural performance requirements, validating the feasibility of lightweight design. This research provides robust theoretical and technical support for lightweight construction robot design and lays a foundation for their efficient operation in complex construction environments.