Research on Matching Design Methods of Lightweight Hydraulic Oil Source for Legged Robot

doi:10.3901/JME.2021.24.058

Abstract

Abstract: Hydraulic oil source is the core energy supply element of hydraulic drive system of legged robot, which transforms the mechanical energy generated by electric energy into the pressure energy of oil, and provides power source for driving the motion of each joint of robot. The weight of hydraulic oil source generally accounts for more than 20% of the overall weight of the legged robot. The lightweight of the oil source will help improve the endurance, maneuverability and carrying capacity of the legged robot. Traditional hydraulic oil source design pays more attention to performance, and the lightweight matching design needs to be further improved. In this paper, the principle of lightweight hydraulic oil source of legged robot is designed firstly. Secondly, the hydraulic oil source is divided into modules based on functions, and the influencing parameters of each module of hydraulic oil source are analyzed. The matching research is carried out for the motor and pump with large mass and volume, and the parameter lightweight analysis is carried out for the accumulator module. For the lightweight design of integrated valve block, the principles of flow passage construction and component arrangement are studied. Successfully developed a lightweight hydraulic oil source prototype; Finally, a matching design method of hydraulic oil source for lightweight legged robot is developed, which is helpful to realize the lightweight of hydraulic drive system of legged robot.

Key words: hydraulic oil source, lightweight, legged robot, matching design

CLC Number:

TH137

YU Bin, LI Huashun, BA Kaixian, ZHENG Bohan, LI Jingbin, YUAN Lipeng. Research on Matching Design Methods of Lightweight Hydraulic Oil Source for Legged Robot[J]. Journal of Mechanical Engineering, 2021, 57(24): 58-65.

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