足式机器人轻量化液压驱动执行器质量建模及灵敏度分析

doi:10.3901/JME.2021.24.039

机械工程学报 ›› 2021, Vol. 57 ›› Issue (24): 39-48,82.doi: 10.3901/JME.2021.24.039

• 特邀专栏：液压元件及系统轻量化关键技术 • 上一篇下一篇

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足式机器人轻量化液压驱动执行器质量建模及灵敏度分析

巴凯先^1,2, 康岩², 俞滨^1,2, 付康平², 黄智鹏², 徐悦鹏², 袁立鹏³, 孔祥东^1,2

1. 燕山大学河北省重型机械流体动力传输与控制实验室秦皇岛 066004;
2. 燕山大学机械工程学院秦皇岛 066004;
3. 哈尔滨工业大学机电工程学院哈尔滨 150008

收稿日期:2021-06-03 修回日期:2021-09-26 出版日期:2021-12-20 发布日期:2022-02-28
通讯作者: 俞滨(通信作者),男,1985年出生,博士,副教授,博士研究生导师。主要研究方向为机器人控制理论与电液伺服控制系统。E-mail:yb@ysu.edu.cn
作者简介:巴凯先,男,1989年出生,博士,副教授,硕士研究生导师。主要研究方向为机器人控制理论。E-mail:bkx@ysu.edu.cn
基金资助:
国家重点研发计划（2018YFB2000701）、国家自然科学基金（51905465）和河北省自然科学基金（E2019203021）资助项目。

Mass Modeling and Sensitivity Analysis of Lightweight Hydraulic Actuator for Legged Robot

BA Kaixian^1,2, KANG Yan², YU Bin^1,2, FU Kangping², HUANG Zhipeng², XU Yuepeng², YUAN Lipeng³, KONG Xiangdong^1,2

1. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004;
2. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
3. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150008

Received:2021-06-03 Revised:2021-09-26 Online:2021-12-20 Published:2022-02-28

摘要/Abstract

摘要： 液压驱动执行器是航空航天、机器人和工程机械等高端移动装备中的核心执行元件，是液压系统的“肌肉”。对液压驱动执行器进行轻量化设计是提升上述高端移动装备的续航能力、机动性和承载能力的主要途径之一。以适用于足式机器人腿部关键驱动的液压执行器为研究对象，首先建立执行器各部件精确质量模型。然后，采用可以定量评估参数对模型影响的基于Sobol的全局灵敏度分析方法，并结合蒙特卡洛数值模拟方法增强其分析效率，揭示了质量参数变化对执行器质量的影响规律，最终得到了影响液压驱动执行器质量的关键参数，并通过系统建模验证了灵敏度分析结果的准确性。同时，所采用的分析方法为通用方法，可对不同液压驱动执行器进行质量建模并进行灵敏度分析，为其轻量化设计提供重要理论参考。

关键词: 液压驱动执行器, 轻量化, 足式机器人, 质量建模, 全局灵敏度分析

Abstract: Hydraulic actuator is the core actuator of high-end mobile equipment such as aerospace, robot and engineering machinery, and it is the "muscle" of hydraulic system. In order to improve the endurance, mobility and carrying capacity of the high-end mobile equipment, the lightweight design of the hydraulic actuator is one of the main solutions. The hydraulic actuator which is suitable for the key drive of the leg of the legged robot is taken as the research object. Firstly, the accurate mass model of each part of the actuator is established. Then, the global sensitivity analysis method based on Sobol, which can quantitatively evaluate the influence of parameters on the model, is adopted. Combined with Monte Carlo numerical simulation method, the analysis efficiency is enhanced, and the influence law of mass parameters on the quality of the actuator is revealed. Finally, the key parameters affecting the quality of the hydraulic actuator are obtained. The accuracy of sensitivity analysis results is verified by system modeling. At the same time, the analysis method used is a general method, which can be used for mass modeling and sensitivity analysis of different hydraulic actuators, and provide an important theoretical reference for lightweight design.

Key words: hydraulic actuator, lightweight, legged robot, quality modeling, global sensitivity analysis

中图分类号:

TH137

巴凯先, 康岩, 俞滨, 付康平, 黄智鹏, 徐悦鹏, 袁立鹏, 孔祥东. 足式机器人轻量化液压驱动执行器质量建模及灵敏度分析[J]. 机械工程学报, 2021, 57(24): 39-48,82.

BA Kaixian, KANG Yan, YU Bin, FU Kangping, HUANG Zhipeng, XU Yuepeng, YUAN Lipeng, KONG Xiangdong. Mass Modeling and Sensitivity Analysis of Lightweight Hydraulic Actuator for Legged Robot[J]. Journal of Mechanical Engineering, 2021, 57(24): 39-48,82.

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足式机器人轻量化液压驱动执行器质量建模及灵敏度分析

Mass Modeling and Sensitivity Analysis of Lightweight Hydraulic Actuator for Legged Robot

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