足式机器人轻量化液压油源匹配设计方法研究

液压油源是足式机器人液压驱动系统的核心供能元件，将电能产生的机械能转化为油液的压力能，为驱动机器人各关节运动提供动力源。液压油源质量一般占据足式机器人整机质量超过20%，实现油源的轻量化，将有助于提升足式机器人的续航能力、机动性和承载能力。传统液压油源设计过程中更关注性能，在轻量化匹配设计方面还有待进一步完善。首先进行足式机器人轻量化液压油源的原理设计；其次将液压油源以功能为依据进行模块划分，分析液压油源各模块质量影响参数；针对质量与体积占比较大的电机泵进行匹配研究，针对蓄能器模块进行参数轻量化分析；针对集成阀块的轻量化设计，研究流道构建与元件排布原则；成功研发一种轻量化液压油源样机；最终形成了一种足式机器人轻量化液压油源匹配设计方法，有助于实现足式机器人液压驱动系统的轻量化。

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

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.