CLC number:
On-line Access: 2024-06-29
Received: 2023-07-03
Revision Accepted: 2023-11-14
Crosschecked: 2024-09-29
Cited: 0
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Xu LI, Haoyang YU, Huaizhi ZONG, Haibo FENG, Yili FU. Light weight design and integrated method for manufacturing hydraulic wheel-legged robots[J]. Journal of Zhejiang University Science A, 2024, 25(9): 701-715.
@article{title="Light weight design and integrated method for manufacturing hydraulic wheel-legged robots",
author="Xu LI, Haoyang YU, Huaizhi ZONG, Haibo FENG, Yili FU",
journal="Journal of Zhejiang University Science A",
volume="25",
number="9",
pages="701-715",
year="2024",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A2300343"
}
%0 Journal Article
%T Light weight design and integrated method for manufacturing hydraulic wheel-legged robots
%A Xu LI
%A Haoyang YU
%A Huaizhi ZONG
%A Haibo FENG
%A Yili FU
%J Journal of Zhejiang University SCIENCE A
%V 25
%N 9
%P 701-715
%@ 1673-565X
%D 2024
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2300343
TY - JOUR
T1 - Light weight design and integrated method for manufacturing hydraulic wheel-legged robots
A1 - Xu LI
A1 - Haoyang YU
A1 - Huaizhi ZONG
A1 - Haibo FENG
A1 - Yili FU
J0 - Journal of Zhejiang University Science A
VL - 25
IS - 9
SP - 701
EP - 715
%@ 1673-565X
Y1 - 2024
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A2300343
Abstract: Design and manufacturing play pivotal roles in hydraulic-driven robotic development. However, previous studies have emphasized mainly results and performance, often overlooking the specifics of the design and manufacturing process. This paper introduces a novel approach known as light weight design and integrated manufacturing (LD&IM) for hydraulic wheel-legged robots. The LD&IM method leverages topology optimization and generative design techniques to achieve a substantial 45% weight reduction, enhancing the robot’s dynamic motion capabilities. This innovative design method not only streamlines the design process but also upholds the crucial attributes of light weight construction and high strength essential for hydraulic wheel-legged robots. Furthermore, the integrated manufacturing method, incorporating selective laser melting (SLM) and high-precision subtractive manufacturing (SM) processes, expedites the fabrication of high-quality components. Using the LD&IM approach, a hydraulic-driven single wheel-legged robot, denoted as WLR-IV, has been successfully developed. This robot boasts low mass and inertia, high strength, and a simplified component structure. To assess its dynamic jumping capabilities, the control loop integrates a linear quadratic regulator (LQR) and zero dynamic-based controller, while trajectory planning uses the spring-loaded inverted pendulum (SLIP) model. Experimental jumping results confirm the WLR-IV single-legged robot’s exceptional dynamic performance, validating both the effectiveness of the LD&IM method and the rationale behind the control strategy.
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