Dynamic modeling and dimensional optimization of legged mechanisms for construction robots

Construction robots are hindered by high energy consumption, limited payload capacity, high costs, and poor terrain adaptability—critical bottlenecks that severely restrict their deployment in complex construction environments. To holistically address these critical bottlenecks, this study introduces legged robotics into construction scenarios and proposes an optimization framework to simultaneously achieve high payload capacity, low energy consumption, and enhanced mobility. First, a bio-inspired leg design is proposed. Second, a novel structural optimization methodology is developed through the integration of dynamic modeling with trajectory planning. Building upon this foundation, a multi-objective optimization of structural dimensions is formulated to address the unique requirements of construction robots. The optimization comprehensively targets the minimization of joint peak torque and energy consumption by optimizing leg segment geometry, while explicitly incorporating constraints including maximum foothold reach, obstacle-clearance requirements, and link stiffness. Results show that the optimized design reduces both joint peak torque and energy consumption by over 20%. Finally, dynamic simulations using ADAMS demonstrate a significant reduction in joint actuation power, thereby validating the effectiveness and rationality of the proposed optimization strategy. This work establishes a theoretical foundation and technical pathway for the design of high-performance, heavy-duty legged robots in construction applications.建筑机器人普遍面临能耗过高、有效载荷能力有限、成本高昂以及地形适应性差等问题，此类关键瓶颈严重制约了其在复杂建筑场景中的部署应用。为全面破解上述核心痛点，本研究将腿式机器人技术（legged robotics）引入建筑场景，并提出一套可同时实现高有效载荷、低能耗与优异移动性能的优化框架。首先，提出一种仿生腿部设计方案；其次，通过将动力学建模与轨迹规划相融合，开发出一种全新的结构优化方法。在此基础上，针对建筑机器人的独特应用需求，构建了结构尺寸的多目标优化模型。该优化以最小化关节峰值扭矩与能耗为核心目标，通过优化腿部分段几何结构实现，同时明确纳入了落脚最大可达范围、避障要求以及连杆刚度等约束条件。研究结果表明，优化后的设计可使关节峰值扭矩与能耗均降低20%以上。最后，通过ADAMS开展的动力学仿真结果显示，关节驱动力得到显著降低，从而验证了所提优化策略的有效性与合理性。本研究为建筑场景下高性能重载腿式机器人的设计奠定了理论基础与技术路径。