为提高仿人机器人的步行能效, 改善其动态平衡性能, 借助拓扑优化对机器人小腿进行轻量化设计, 小腿结构由分体装配式结构重新设计为一体化结构, 零件由11个减少为1个。通过相图热力学计算, 获得AlSi10Mg热物理性能, 在此基础上开展小腿的粉末床熔融增材制造AlSi10Mg工艺研究和粉末床熔融工艺仿真, 结果显示, 优化的激光工艺参数窗口为线能量密度90~210 J/m。在此基础上, 打印出成品, 最终实现了小腿打印件减重63.8%的目标, 满足了轻量化、一体化、力学性能和美观的统一。

To improve the walking energy efficiency and dynamic balance performance, the innovative lightweight design of robot calf was proposed with the help of topological optimization technology, and the calf assembly structure was redesigned as an integrated structure, reducing the parts from 11 to 1. Besides, with the help of laser powder bed fusion technology, AlSi10Mg was selected as printing material to carry out the additive manufacturing process research. Using Altair Inspire software to carry out laser powder bed fusion process simulation, and the optimized laser process parameters window was obtained, line energy density was 90~210 J/m. On this basis, the finished product was printed, finally realizing the goal of calf weight reduction up to 63.8%.