建設ロボット用脚機構の動的モデリングと寸法最適化
Dynamic Modeling and Dimensional Optimization of Legged Mechanisms for Construction Robot
アリの脚構造を参考に建設ロボットの脚を設計し、ラグランジュ法による動的モデルと複数の評価指標を用いて各脚セグメントの幾何パラメータを最適化した。その結果、関節トルクのピークとエネルギー消費を20%以上削減できることをシミュレーションで示した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
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著者: Xiao Liu, Xianlong Yang, Weijun Wang, Wei Feng
分類: cs.RO
原文アブストラクト
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.
