Methods for lightweight design of mechanical components in humanoid robots
- 1 November 2007
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 21640572,p. 609-615
- https://doi.org/10.1109/ichr.2007.4813934
Abstract
With the development of humanoid robots, lightweight construction and energy efficiency play an important role as these mobile, dynamic systems have to work self-sufficiently. The application of computer-aided (CAE) methods in the development process is one possibility to achieve the required weight reduction. On the basis of a classical topology optimization carried out on the robot ARMAR III, an extended system-based method for dynamic, mechatronic systems is presented. Different analysis domains, namely hybrid multibody system dynamics (MBS), finite element analysis (FEA), control system simulation and topology optimization are integrated into a straightforward, automatic way. For the use of fiber reinforced composite materials in such parts, a FE-based method for the determination of ply orientations and thickness relations is presented.Keywords
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