Abstract
The lightweight and high stiffness leg structure of humanoid robots can effectively reduce rotational inertia and energy consumption, improving the robot's ability to quickly switch motion states. Based on the lightweight requirements of robots, this article proposes an innovative design method for humanoid robot legs based on the “structure-appearance” integration of light-alloy additive manufacturing technology. The load-bearing part of the leg structure is designed as a “shell + density-variable lattice” configuration, and the appearance part is set as a thin shell with equal thickness. The load-bearing part and the appearance one are combined together, resulting in a 20% weight reduction compared to traditional legs. The leg structure sample was processed using metal additive manufacturing method, and tested by a set of personalized fixture. When applying 200 Nm loading under pure torsion conditions, the local strain did not exceed 0.0175%, indicating that it meets the usage requirements.
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Acknowledgement
The authors are grateful for the financial support from Zhejiang Provincial Natural Science Foundation (Grant No. LQ22E050024) and the project of “High-performance biped robot and its application” (G2021NB0AL03), founded by Zhejiang Lab.
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Nie, D., Gu, J., Zhang, Y., Jiang, H. (2023). Lightweight Design and Property Analysis of Humanoid Robot Thigh Integrated Structure with Appearance. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_44
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DOI: https://doi.org/10.1007/978-981-99-6495-6_44
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