标题： 用于建筑机器人的腿结构的设计与尺寸优化 显示英文标题

标题： Design and Dimensional Optimization of Legged Structures for Construction Robots

摘要： 面对复杂且无结构的施工环境，轮式和履带式机器人在地形适应性和灵活性方面表现出显著的局限性，难以满足自主运行的要求。 受自然界蚂蚁的启发，本文提出了一种针对施工场景的腿结构设计与优化方法，旨在提升施工机器人的自主移动能力。 本文分析了腿部在摆动阶段和支撑阶段的完整操作运动性能。 首先，基于运动学建模和多维工作空间分析，引入了“改进工作空间”的概念，并采用图形方法优化腿部尺寸。 此外，基于速度雅可比矩阵，引入了“平均操作性”的新概念，并应用数值解法获得最大化操作性的腿部段比例。 为克服传统解析方法的困难，在ADAMS中进行虚拟样机仿真，以探索机器人本体的最佳灵活性与腿部段比例之间的关系。 总之，获得了具有最佳综合运动性能的腿部段比例。 本研究提出了首个针对施工环境的腿部运动性能多维定量评估框架，为足式施工机器人实现复杂地形下的自主移动提供了结构设计基础。 显示英文摘要

摘要： Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation. Inspired by ants in nature, this paper proposes a leg configuration design and optimization method tailored for construction scenarios, aiming to enhance the autonomous mobility of construction robots. This paper analyzes the full operational motion performance of the leg during both swing and stance phases. First, based on kinematic modeling and multi-dimensional workspace analysis, the concept of an "improved workspace" is introduced, and graphical methods are used to optimize the leg dimensions during the swing phase. Furthermore, a new concept of "average manipulability" is introduced based on the velocity Jacobian matrix, and numerical solutions are applied to obtain the leg segment ratio that maximizes manipulability. To overcome the difficulties associated with traditional analytical methods, virtual prototype simulations are conducted in ADAMS to explore the relationship between the robot body's optimal flexibility and leg segment proportions. In summary, the leg segment proportions with the best comprehensive motion performance are obtained. This study presents the first multi-dimensional quantitative evaluation framework for leg motion performance tailored for construction environments, providing a structural design foundation for legged construction robots to achieve autonomous mobility in complex terrains.