등가정하중을 이용한 휴머노이드 하체 부품의 구조최적설계

Abstract

In later research, a design scenario is proposed to design humanoid structures under dynamic loading conditions from a structural viewpoint. Since design change of the structure can affect dynamic characteristics and dynamic loads of the humanoid structures accordingly, the humanoid structures have to be redesigned to consider the changed dynamic characteristics. In the present research, an improved design scenario is proposed to overcome this difficulty. Multibody dynamics is adopted to calculate the dynamic loads, and a structural optimization technique using equivalent static loads is employed to design selected parts under dynamic loading conditions. Some parts of the humanoid are selected for design practice and the design results are discussed.