Analysis and Design of Hydraulic System of a Hydraulically Actuated Quadruped Robot

Abstract:

Abstract.Quadruped not only possess excellent kinetic speed and stability but also can adapt to various complex terrains, with the result that hydraulically actuated quadruped bionic robots with high load and outstanding adaptability have become the research hotspot. Hydraulic system, which is regarded as the dynamic part of a hydraulic quadruped robot, has a direct effect on the kinetic capability of robots. Based on dog’s structure bionics, hydraulically actuated quadruped robot was designed. In accordance with distribution modes of hydraulic cylinders which drive robot’s kinetic joints, a hydraulic oil-line system of the robot was designed in this paper. Combining the maximum design kinetic velocity, trotting movement pattern within foot’s work space was planned. Velocity curve of each joint’s hydraulic cylinder was obtained through simulation analysis of dynamic analysis software. According to the structure of asymmetrical hydraulic cylinder, minimum flux which the oil hydraulic pump theoretically requires at the robot’s maximum kinetic speed was calculated. With practical experience, the oilsource parameter which could meet the demands of hydraulic quadruped robot were determined.

• Periodical: Applied Mechanics and Materials (Volume 461)
• Pages: 861-868
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.461.861
• Online since: November 2013
• Authors: Zhi Li, Hong Kai Li, Hao Zhang, Zhen Dong Dai
• Keywords: Flux, Hydraulic Actuators, Oil Source, Oil-Line Design, Quadruped Robot

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