机器人用电静液作动器研究现状与发展趋势

doi:10.3901/JME.2025.04.273

机械工程学报 ›› 2025, Vol. 61 ›› Issue (4): 273-289.doi: 10.3901/JME.2025.04.273

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机器人用电静液作动器研究现状与发展趋势

张军辉^1,2, 倪小昊^1,2, 纵怀志^1,2, 郭怡涛^1,2, 杨梅生³, 朱琦歆^1,2, 徐兵^1,2

1. 浙江大学流体动力与智能控制研究所杭州 310058;
2. 浙江大学流体动力基础件与机电系统全国重点实验室杭州 310058;
3. 安徽工业大学机械工程学院马鞍山 243002

收稿日期:2024-03-07 修回日期:2024-10-14 出版日期:2025-02-20 发布日期:2025-04-14
作者简介:张军辉，男，1983年出生，博士，研究员，博士研究生导师。主要研究方向为高功率密度液压传动、智能液压元件和液压驱动机器人。E-mail：benzjh@zju.edu.cn
纵怀志(通信作者)，男，1995年出生，博士研究生。主要研究方向为轻量化液压元件、足式机器人节能控制等。E-mail：hzzong@zju.edu.cn
基金资助:
国家自然科学基金(U21A20124，52105041)、浙江省重点研发计划(2022C01039)和中国博士后科学基金(2023T160570)资助项目。

Research Status and Development Trend of Electro-hydrostatic Actuators for Robots

ZHANG Junhui^1,2, NI Xiaohao^1,2, ZONG Huaizhi^1,2, GUO Yitao^1,2, YANG Meisheng³, ZHU Qixin^1,2, XU Bing^1,2

1. Institute of Fluid Power and Intelligent Control, Zhejiang University, Hangzhou 310058;
2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058;
3. School of Mechanical Engineering, Anhui University of Technology, Maanshan 243002

Received:2024-03-07 Revised:2024-10-14 Online:2025-02-20 Published:2025-04-14

摘要/Abstract

摘要： 液压机器人以大负载输出和抗干扰能力强等优点在众多场景中广泛应用。执行器作为机器人的“肌肉”负责直接对外做功，是机器人实现性能的关键。其中，电静液作动器(Electro-hydrostatic actuator, EHA)以其集成度高、能量效率高、功率密度高等优点，被广泛应用于机器人、航空航天、工程装备及其他领域。从EHA的机器人应用、系统构型、硬件组成、控制算法和发展方向五个方面综述机器人用EHA的发展现状，介绍EHA在关节机器人、可穿戴机器人、足式机器人等多领域开展的应用，对EHA的快速响应构型和节能高效构型进行介绍，讨论EHA的硬件组成，包括电机、液压泵、执行器与集成阀块等核心部件，总结机器人用EHA在位置控制、力控制和柔顺控制方面的控制算法，从元件、驱动、控制和节能等角度展望机器人用EHA的发展趋势。

关键词: 电静液作动器, 液压驱动机器人, 系统构型, 集成设计, 精确控制

Abstract: Hydraulic actuated robots are widely used in many scenarios due to their advantages of high payload and strong anti-interference ability. The actuators serve as the muscle of the robot to output force directly, which are significant for the performance of the robot. Among kinds of actuators, electro-hydrostatic actuators(EHA) have the advantages of high integration, high energy efficiency, and high-power density, and have been widely used in robotics, aerospace, engineering equipment, and other fields. The development status of EHA for robots is reviewed from five aspects: robot application, system configuration, hardware composition, control algorithm and development trend of EHA. Firstly, the applications of EHA in articulated robots, wearable robots, legged robots and other fields are introduced, and the system configurations are introduced in terms of fast response and energy. Then, the hardware compositions of EHA are discussed, including motors, hydraulic pumps, actuators and integrated valve blocks and other core components. In addition, this study summarizes the control algorithm of EHA for the control requirements of the hydraulic robots. Finally, the future trends of EHA for robots from the perspectives of components, drive, control and energy saving are presented.

Key words: electro-hydrostatic actuator, hydraulic-actuated robot, system configuration, integrated design, precise control

中图分类号:

TH137
TH322

张军辉, 倪小昊, 纵怀志, 郭怡涛, 杨梅生, 朱琦歆, 徐兵. 机器人用电静液作动器研究现状与发展趋势[J]. 机械工程学报, 2025, 61(4): 273-289.

ZHANG Junhui, NI Xiaohao, ZONG Huaizhi, GUO Yitao, YANG Meisheng, ZHU Qixin, XU Bing. Research Status and Development Trend of Electro-hydrostatic Actuators for Robots[J]. Journal of Mechanical Engineering, 2025, 61(4): 273-289.

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机器人用电静液作动器研究现状与发展趋势

Research Status and Development Trend of Electro-hydrostatic Actuators for Robots

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