홍을표 이일권 유범재 김창환 박경진 2024-01-20T22:33:21Z 2024-01-20T22:33:21Z 2021-09-06 2008-10 1226-4873 https://pubs.kist.re.kr/handle/201004/133079 humanoid is a robot with its overall appearance based on that of the human body. When the humanoid moves or walks, dynamic forces act on the body structure. Although the humanoid keeps the balance by using a precise control, the dynamic forces generate unexpected deformation or vibration and cause difficulties on the control. Generally, the structure of the humanoid is designed by the designer’s experience and intuition. Then the structure can be excessively heavy or fragile. A humanoid design scenario for a systematic design is proposed to reduce the weight of the structure while sufficient strength is kept. Lower parts of the humanoid are selected to apply the proposed design scenario. Multi-body dynamics is employed to calculate the external dynamic forces on the parts and structural optimization is carried out to design the lower parts. Because structural optimization using dynamic forces directly is fairly difficult, linear dynamic response structural optimization using equivalent static loads is utilized. Topology and shape optimizations are adopted for two steps of initial and detailed designs, respectively. Various commercial software systems are used for analysis and optimization. Improved designs are obtained and the design results are discussed Korean 대한기계학회 동적 특성을 고려한 휴머노이드 하체 부품의 구조최적설계 Structural Optimization of the Lower Parts in a Humanoid Considering Dynamic Characteristics Article 1 대한기계학회논문집 A, v.32, no.10, pp.882 - 889 대한기계학회논문집 A 32 10 882 889 scopus kci ART001281194 Humanoid Structural Optimization Equivalent Static Load Multibody Dynamics 휴머노이드 구조최적설계 등가정하중 다물체동역학