仿蚂蚁腿结构优化，降低施工机器人能耗20%以上
Dynamic Modeling and Dimensional Optimization of Legged Mechanisms for Construction Robot
- 基于蚂蚁腿部结构设计新构型，用拉格朗日法建立动态模型
- 优化后关节峰值扭矩与能耗均下降超20%
- 适合重载高机动性施工机器人设计参考
随着建筑业快速发展，恶劣工作环境、高强度高风险任务及劳动力短缺问题日益突出，对施工机器人的低能耗、高机动性和高承载能力提出更高要求。本文聚焦施工机器人腿部结构的设计与优化，旨在提升其动态性能、降低能耗并增强承重能力。首先，借鉴自然界蚂蚁的腿部构型设计机器人腿结构；其次，提出一种新型结构优化方法，采用拉格朗日法建立腿部动态模型，结合运动轨迹构建多项动态评估指标，对各腿段几何参数进行综合优化。结果表明，优化后的腿结构使关节峰值扭矩和能耗均降低超过20%。最后，通过ADAMS开展动态仿真实验，验证了各关节驱动功率显著下降，证明该策略的有效性与合理性。本研究为重型高性能施工机器人的设计提供了理论基础与技术支持。
原文摘要 · Abstract (English)
With the rapid development of the construction industry, issues such as harsh working environments, high-intensity and high-risk tasks, and labor shortages have become increasingly prominent. This drives higher demands for construction robots in terms of low energy consumption, high mobility, and high load capacity. This paper focuses on the design and optimization of leg structures for construction robots, aiming to improve their dynamic performance, reduce energy consumption, and enhance load-bearing capabilities. Firstly, based on the leg configuration of ants in nature, we design a structure for the robot's leg. Secondly, we propose a novel structural optimization method. Using the Lagrangian approach, a dynamic model of the leg was established. Combining the dynamic model with the leg's motion trajectory, we formulated multiple dynamic evaluation metrics and conducted a comprehensive optimization study on the geometric parameters of each leg segment. The results show that the optimized leg structure reduces peak joint torques and energy consumption by over 20%. Finally, dynamic simulation experiments were conducted using ADAMS. The results demonstrate a significant reduction in the driving power of each joint after optimization, validating the effectiveness and rationality of the proposed strategy. This study provides a theoretical foundation and technical support for the design of heavy-load, high-performance construction robots.
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