金属加工（热加工）Issue(9)：143-150,8.
基于激光增材制造的人形机器人腿部结构拓扑优化设计
Topology optimization design of humanoid robot leg structures based on laser additive manufacturing
摘要
Abstract
The lower limb components of humanoid robots,functioning as core load-bearing units,play a pivotal role in achieving lightweight breakthroughs for enhanced system performance.This study focuses on optimizing lower limb structures for 75kg-class humanoid robots through laser additive manufacturing.The research framework partitions the lower limb assembly into calf and thigh segments,establishing topology optimization models with multi-dimensional load cases to precisely simulate actual motion states.Distinct optimization strategies were implemented:a mass-minimization objective function for the calf structure versus a stiffness-maximization optimization algorithm for the thigh component.Iterative computations yielded optimized configurations achieving over 50％weight reduction.Particularly for the calf structure,multi-phase configuration adjustments combined with finite element verification successfully eliminated stress concentration phenomena while constructing a novel structural system that demonstrates both superior mechanical performance and remarkable lightweight characteristics.关键词
人形机器人/拓扑优化/激光增材制造/腿部结构Key words
humanoid robot/topology optimization/laser additive manufacturing/leg structure引用本文复制引用
曹智博,罗大迪,齐士杰,巩向鹏,王朵朵,任雁,李宁..基于激光增材制造的人形机器人腿部结构拓扑优化设计[J].金属加工（热加工）,2025,(9):143-150,8.基金项目
兵器集团自主创新项目(JY012024103-1) （JY012024103-1）
北仑区关键核心技术攻关项目(2024BLG008) （2024BLG008）
宁波市自然科学基金(2022J023). （2022J023）
