Topology Optimization of Quadruped Robot Limbs based on Buckling Analysis
DOI:
https://doi.org/10.54097/ndk16t06Keywords:
Quadruped Robot limbs, Topology structure optimization, Euler's Critical Load, Finite Element Analysis.Abstract
Quadruped robots, recognized for their stability and simplicity, are at the forefront of robotics research. A key to their functionality lies in the optimization of their limbs, which significantly influences their operational stability and efficiency. This paper utilizes buckling analysis with the Euler column formula to optimize the topology of limbs in order to improve the effectiveness. Through rigorous computation, this method made it possible to determine the ideal thigh-to-calf length ratios and articulation angles—two factors that are essential for optimizing the robot's load-bearing efficiency and operational stability. The optimal numerical range was then simulated using finite element analysis, providing the best structure based on yield stress and displacement magnitude. V-REP simulations confirmed the practical performance and adaptability in dynamic environments. This research found that the robot performs optimally when its thigh-to-calf length ratio is roughly 1.05 and its articulation angles are between 30° and 45°. The most effective limb designs showed that they could sustain loads up to twice their own while maintaining structural integrity. This progress in limb optimization not only represents a major improvement in the functionality and design of quadruped robots, but it also expands their range of applications, increasing their suitability for search and rescue operations.
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