CN116341336A - Topology reconstruction method and model for human-simulated robot calf - Google Patents
Topology reconstruction method and model for human-simulated robot calf Download PDFInfo
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- 244000309466 calf Species 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000004364 calculation method Methods 0.000 claims abstract description 29
- 239000000463 material Substances 0.000 claims abstract description 26
- 230000001502 supplementing effect Effects 0.000 claims abstract description 3
- 210000003423 ankle Anatomy 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 5
- 210000002683 foot Anatomy 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
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- 230000008439 repair process Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 4
- 230000014759 maintenance of location Effects 0.000 abstract description 2
- 238000009420 retrofitting Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 244000062793 Sorghum vulgare Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000005056 cell body Anatomy 0.000 description 1
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- 235000019713 millet Nutrition 0.000 description 1
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Abstract
A topology reconstruction method of a human-simulated robot calf comprises the following steps: (1) designing an initial model; (2) performing topology calculation on the model; (3) Analyzing the distribution characteristics of the materials according to the topology calculation result; (4) dividing the initial model into block units; (5) removing the hollowed-out units according to the material distribution characteristics; (6) retrofitting the cells of the border area; (7) Performing finite element calculation on the topological structure obtained by the removal method; (8) And supplementing the units to the parts with larger stress, and secondarily removing the units in the areas with smaller stress. The invention also provides a calf model adopting the topology reconstruction method of the humanoid robot calf. The invention can effectively reduce the design speed of the topological structure, can reduce the model reconstruction time by 20% for the calf topological model, has 76% of the material distribution characteristic retention rate of the model, and has good model integrity.
Description
Technical Field
The invention relates to the field of intelligent robot structural design, in particular to a topology reconstruction method and model of a humanoid robot calf.
Background
The humanoid robot is increasingly a research hotspot in the robot field, and the 8-month millet technology limited liability company of 2022 pushes out the first-year humanoid robot CyberOne, and the Optimus humanoid robot of 9-month Tesla company (Tesla Inc.) of 2022 is also bright for the first time. The humanoid robot is an ideal model for home care, child accompanying education, outdoor carrying and the like in the future, and has great application potential and research and development requirements. The root cause has two aspects: in the aspect of the exercise capacity, the humanoid robot has a limb structure and joint rotation capacity similar to those of a human, so that various complex actions of the human, such as dancing, running and the like, can be reproduced when the torque and the rotating speed of the motor are enough; in the human-computer interaction aspect, by adding the intelligent voice module, the humanoid robot can understand the human semantics and communicate with the human without obstacle.
The flexible movement of the humanoid robot requires a small rotational inertia of the structural member as a support. If the rotational inertia of the structural member is large, the robot may cause a motion response lag due to the inertia effect when the movement speed needs to be changed rapidly, and the movement stability of the robot may be deteriorated. For example, the robot delivers a cup of water to people, the speed is switched faster, if the rotation inertia of a structural member is large, the robot can hurt people, and water can be splashed out. Therefore, a structural member with small rotation inertia needs to be designed, and the requirement of high-precision movement of the robot is met. The mass distribution of the rotary inertia jade structural member is directly related, and the structural member with small mass has small rotary inertia in the same configuration.
At present, a plurality of methods for lightening structural members are adopted, but a model is usually redesigned from no to no way on the basis of a topology calculation result. Such design methods are firstly incapable of reproducing the material distribution characteristics of the topology settlement results in a complete manner, especially when the modeling is complex, and in addition the time required for reconstruction is long.
Disclosure of Invention
In order to overcome the problems, the invention provides a method and a model for reconstructing the topology of the calf of the humanoid robot, which are rapid and have a plurality of characteristics.
The first invention provides a topology reconstruction method of a human-simulated robot calf, which comprises the following steps:
(1) Designing an initial model;
(2) Performing topology calculation on the model;
(3) Analyzing the distribution characteristics of the materials according to the topology calculation result;
(4) Dividing the initial model into block units;
(5) Removing the hollowed-out units according to the material distribution characteristics;
(6) Performing modification repair on units in the boundary area;
(7) Performing finite element calculation on the topological structure obtained by the removal method;
(8) And supplementing the units to the parts with larger stress, and secondarily removing the units in the areas with smaller stress. Further, the initial model is calculated by a two-step method, wherein the first step is to calculate a topological calculation result of the volume fraction of the material at 70%, and the second step is to calculate a topological calculation result of the volume fraction of the material at 50%.
Further, the distribution characteristics of the analysis materials in the step 3 are that the calculation results of the volume analysis of different materials are weighted, and the material distribution condition of the topology model is determined.
Further, in the step 4, when the initial model is divided into block units, the planar area is divided into hexahedral units, and the curved area is divided into wedge units or tetrahedral units.
Further, in the removing method in step 7, for the position where the feature is lost after the removal, the unit is divided into two parts by an edge cutting method, and the cut unit is removed close to one of the hollowed sides.
Further, the removal process occurs surface units, which are deleted directly.
Further, when the sheet body structure is to be stitched to form a solid body in the removing process, the length difference between two opposite sides of the slit to be connected is 0.5 l-2 l.
Further, in the secondary reconstruction in the step 8, more than 5 units of the sheet body introduced after the removal are not removed, and more than 5 units can be removed and repaired.
The second aspect of the invention provides a shank model established by adopting a topology reconstruction method of a humanoid robot shank, wherein the shank model comprises four topology shank columns, a plurality of topology shank cross beams are connected between two adjacent topology shank columns, and the inclination angle of the topology shank cross beams and a horizontal plane is not less than 60 degrees; the bottoms of the four topological calf columns are connected into a point, ankle department type through holes are formed in the side faces of the bottoms of the four topological calf columns, and a plurality of bottom connecting holes used for being connected with the flexible feet are formed in the bottom faces of the bottoms of the four topological calf columns; the top ends of the four topological calf columns are arranged in a quadrilateral manner in overlooking, wherein the top ends of two topological calf columns are connected with motor connecting blocks, the top ends of the other two topological calf columns are connected with motor front connecting tables, and the motor front connecting tables are connected with motor fixing ring end faces through motor fixing ring connecting sheets; the reverse side of the motor front connecting table is provided with a motor reverse side connecting column, and connecting column wrapping blocks are arranged around the motor connecting column.
The principle of the invention is as follows: the model can be divided into a plurality of units by a mesh division method, and the mesh is composed of various types, including hexahedron, tetrahedron, wedge-shaped unit, and the like, because the model is complex. According to the invention, firstly, a region with larger stress of a structural member is obtained through topology calculation, then, units with smaller stress in a unit aggregate divided into grids are compared, namely, the units which are removed in the topology calculation result are removed, and the positions corresponding to the region with larger stress are reserved, so that a continuous topology structure consisting of units with larger stress is finally formed.
The beneficial effects of the invention are as follows: the invention can effectively reduce the design speed of the topological structure, can reduce the model reconstruction time by 20% for the calf topological model, has 76% of the material distribution characteristic retention rate of the model, and has good model integrity.
Drawings
FIG. 1 is an initial model of a human-simulated robotic calf;
FIG. 2 is a schematic diagram (frontal) of a topology model of a human-simulated robot calf;
FIG. 3 is a schematic diagram of a topology model of a human-like robot calf (reverse);
FIG. 4 is a schematic view of a motor stator ring for a calf of a humanoid robot;
fig. 5 is a schematic view of a connecting piece of a shank motor fixing ring of a humanoid robot.
Reference numerals illustrate: 1. an ankle connection joint; 1-1, a bottom connecting hole; 1-2, ankle door type through hole; 2. an initial shank; 3. an electric wire outlet; 4. a bearing connection position; 5. a front connecting hole of the motor; 6. a motor back surface connecting hole; 7. topological calf ducts; 7-1, topological shank tube longitudinal columns; 8. topological calf beams; 9. the front surface of the motor is connected with the table; 10. a motor fixing ring connecting hole; 10-1, connecting pin holes of a motor fixing ring; 10-2, connecting a motor fixing ring with a threaded hole; 10-3, the end face of a motor fixing ring; 11. a motor connecting block; 11-1, a motor reverse side connecting column; 11-2, connecting column wrapping blocks.
Detailed Description
The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that, as the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used for convenience in describing the present invention and simplifying the description based on the azimuth or positional relationship shown in the drawings, it should not be construed as limiting the present invention, but rather should indicate or imply that the devices or elements referred to must have a specific azimuth, be constructed and operated in a specific azimuth. Furthermore, the terms "first," "second," "third," and the like, as used herein, are used for descriptive purposes only and are not to be construed as indicating or implying any relative importance.
In the description of the present invention, it should be noted that unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to the drawings, a topology reconstruction method of a human-simulated robot calf comprises the following steps:
(1) Designing an initial model;
when designing the initial model of the calf, a two-step method is adopted, firstly, a topology calculation result with the volume fraction of the material being 70% is calculated, and then, a topology calculation result with the volume fraction of the material being 50% is calculated.
(2) Performing topology calculation on the initial model; the initial model is a configuration designed according to the load boundary condition of the lower leg;
(3) Analyzing the distribution characteristics of the materials according to the topology calculation result;
and weighting calculation results of the different material volume analyses when analyzing the material distribution characteristics, so as to determine the material distribution condition of the topological model.
(4) Dividing the initial model into block units;
when the initial model of the lower leg is divided into block units, the plane area is divided into hexahedral units, and the curved surface area is divided into wedge units or tetrahedral units.
(5) Removing the hollowed-out units according to the material distribution characteristics;
(6) Performing modification repair on units in the boundary area;
(7) Performing finite element calculation on the topological structure obtained by the removal method; the removing method specifically comprises the following steps:
7.1 When removing the unit, the unit is divided into two parts by an edge cutting method for the position which causes obvious feature loss after removal, and the cut unit is removed close to one of the hollowed-out sides.
The removal process may occur with surface units that may be deleted directly.
7.2 When the sheet body structure is needed to be stitched to form a solid body in the removing process, the length difference between two opposite sides of the gap to be connected is 0.5 l-2 l.
7.3 When the sheet body structure is needed to be stitched to form a solid body in the removing process, the length difference between two opposite sides of the gap to be connected is 0.5 l-2 l.
(8) The unit is supplemented to the part with larger stress, and the unit in the area with smaller stress is removed secondarily; the method specifically comprises the following steps:
8.1 A topological calf beam 8 is arranged between the columns 7 of the topological calf, the width part of the topological calf beam 8 is smaller than 5mm, and the inclination angle between the topological calf beam and the horizontal plane is not smaller than 60 degrees;
8.2 The length of the motor back surface connecting column 11 is not less than a+5mm, wherein a is the thickness of a sheet body attached to the motor back surface;
8.3 A minimum wall thickness of not less than 2mm and a minimum fillet of not less than 0.5mm in the ze topology;
8.4 The ankle bottom is connected with the flexible foot by using threaded connecting holes 1-1 which are distributed tangentially and uniformly;
8.5 Four ankle department type through holes 1-2 are arranged and are evenly distributed along the tangential direction, and the height of the door type through holes is not more than 1/2 of the total height of the ankle;
8.6 The outline size of the connecting column wrapping block 11-2 which is the same as the length of the motor reverse side connecting column 11, and the set upper deviation is required to be ensured;
8.7 For more than 5 units of the introduced patch after removal, no more than 5 units are removed, as indicated at a, and can be removed and repaired.
8.8 When the contact area between the motor reverse side connecting column 11 and the topological structure main body is less than 1/2, the contact area is required to be more than 1/2 by local correction;
8.9 A connecting platform 9 is arranged near the front connecting hole of the motor, and the radius of the connecting platform 9 is not smaller than 4 times of the diameter of the connecting hole;
8.10 Two connecting hole sites are arranged on the motor fixing ring 10 and are respectively a screw connecting unthreaded hole 10-1 and a pin hole 10-2, wherein the diameter of the screw threaded unthreaded hole 10-1 is 0.2-0.5 mm larger than that of the screw threaded hole, and the diameter of the pin hole is 0-0.2 mm larger than that of the pin;
8.11 The two end parts 10-3 of the motor fixing ring 10 are planes, and the included angle of the two planes is not more than 60 degrees;
8.12 At the corners of the calf tube column 7-1, if a large number of pieces are produced when removing the hexahedral unit, it is not preferable to remove the hexahedral unit thereat.
Example two
A shank model manufactured by adopting a topology reconstruction method of a human-simulated robot shank comprises a shank model with an inclination angle not smaller than 60 degrees; the bottoms of the four topological shank posts 7 are connected into a point, the side surfaces of the bottoms of the four topological shank posts 7 are provided with ankle department type through holes 1-2, and the bottom surfaces of the bottoms of the four topological shank posts 7 are provided with a plurality of bottom connecting holes 1-1 for connecting with flexible feet; the top ends of the four topological calf columns 7 are arranged in a quadrilateral manner in overlooking, wherein the top ends of two topological calf columns 7 are connected with motor connecting blocks 11, the top ends of the other two topological calf columns 7 are connected with motor front connecting tables 9, and the motor front connecting tables 9 are connected with motor fixing ring end faces 10-3 through motor fixing ring connecting sheets; the back of the motor front connecting table 9 is provided with a motor back connecting column 11-1, and connecting column wrapping blocks 11-2 are arranged around the motor front connecting column 11-1.
Compared with the initial model, the shank manufactured by the method has the advantages that the elastic deformation of the structural member is increased by 6% and the quality is reduced by 17% compared with the previous elastic deformation under the impact working condition of the robot.
The working principle of the invention is as follows: the model can be divided into a plurality of units by a mesh division method, and the mesh is composed of various types, including hexahedron, tetrahedron, wedge-shaped unit, and the like, because the model is complex. According to the invention, firstly, a region with larger stress of a structural member is obtained through topology calculation, then, units with smaller stress in a unit aggregate divided into grids are compared, namely, the units which are removed in the topology calculation result are removed, and the positions corresponding to the region with larger stress are reserved, so that a continuous topology structure consisting of units with larger stress is finally formed.
The invention is characterized in that: the reconstruction of the model usually adopts an 'addition method', namely firstly removing the units with stress smaller than a certain value according to the stress of each unit in finite element calculation, and leaving the units with larger stress. And then redesigning the model according to the preserved unit distribution characteristics by utilizing structural design software from scratch. The invention adopts 'subtraction', divides the initial model into grids, and removes the unit body with small stress on the basis of maintaining the structural continuity according to the result of topology calculation. Finally, the cell body with large stress remained is used as a designed primary topological structure model, and the primary topological structure model is subjected to finite element calculation again, so that a final secondary topological structure model can be obtained.
The embodiments described in the present specification are merely examples of implementation forms of the inventive concept, and the scope of protection of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, and the scope of protection of the present invention and equivalent technical means that can be conceived by those skilled in the art based on the inventive concept.
Claims (9)
1. The topology reconstruction method of the human-simulated robot calf is characterized by comprising the following steps of:
(1) Designing an initial model;
(2) Performing topology calculation on the initial model;
(3) Analyzing the distribution characteristics of the materials according to the topology calculation result;
(4) Dividing the initial model into block units;
(5) Removing the hollowed-out units according to the material distribution characteristics;
(6) Performing modification repair on units in the boundary area;
(7) Performing finite element calculation on the topological structure obtained by the removal method;
(8) And supplementing the units to the parts with larger stress, and secondarily removing the units in the areas with smaller stress.
2. A method for topology reconstruction of a human-simulated robotic calf as recited in claim 1, wherein: the initial model is calculated by a two-step method, wherein the first step is to calculate a topological calculation result of 70% of the material volume fraction, and the second step is to calculate a topological calculation result of 50% of the material volume fraction.
3. A method for topology reconstruction of a human-simulated robotic calf as recited in claim 1, wherein: and 3, the distribution characteristics of the analysis materials are that the calculation results of the volume analysis of different materials are weighted, and the material distribution condition of the topology model is determined.
4. A method for topology reconstruction of a human-simulated robotic calf as recited in claim 1, wherein: and 4, dividing the plane area into hexahedral units and dividing the curved surface area into wedge-shaped units or tetrahedral units when the initial model is divided into block units.
5. The method for reconstructing the topology of the human-simulated robotic calf of claim 4, wherein: in the step 7, when removing the unit, the unit is divided into two parts by edge cutting for the position where the feature is lost after the removal, and the cut unit is removed close to one of the hollowed sides.
6. The method for reconstructing the topology of the human-simulated robotic calf of claim 5, wherein: the removal process occurs with surface units that are deleted directly.
7. The method for reconstructing the topology of the human-simulated robotic calf of claim 6, wherein: when the sheet body is to be stitched to form a solid body in the removing process, the length difference between two opposite sides of the slit to be connected is 0.5 l-2 l.
8. A method for topology reconstruction of a human-simulated robotic calf as recited in claim 1, wherein: and in the step 8, more than 5 units of the sheet body introduced after removal are not removed, and more than 5 units can be removed and repaired.
9. A calf model using a topology reconstruction method of a human-simulated robotic calf according to any of claims 1-8, characterized by: the shank model comprises four topological shank columns (7), a plurality of topological shank cross beams (8) are connected between two adjacent topological shank columns (7), and the inclination angle of each topological shank cross beam (8) and a horizontal plane is not less than 60 degrees; the bottoms of the four topological calf columns (7) are connected into one point, ankle department type through holes (1-2) are formed in the side faces of the bottoms of the four topological calf columns (7), and a plurality of bottom connecting holes (1-1) used for being connected with the flexible feet are formed in the bottom face of the bottoms of the four topological calf columns (7); the top ends of the four topological calf columns (7) are in quadrilateral arrangement in overlooking, wherein the top ends of the two topological calf columns (7) are connected with motor connecting blocks (11), the top ends of the other two topological calf columns (7) are connected with motor front connecting tables (9), and the motor front connecting tables (9) are connected with motor fixing ring end faces (10-3) through motor fixing ring connecting sheets; the back of the motor front connecting table (9) is provided with a motor back connecting column (11-1), and connecting column wrapping blocks (11-2) are arranged around the motor front connecting column (11-1).
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2023
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| US20090284528A1 (en) * | 2008-05-15 | 2009-11-19 | Tyson Wayne Jensen | Software processing apparatus and method for creating three-dimensional topologically complete surface boundary representations from arbitrary polygon models |
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