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On-line Access: 2024-06-29

Received: 2023-07-03

Revision Accepted: 2023-11-14

Crosschecked: 2024-09-29

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Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Xu LI

https://orcid.org/0000-0003-1898-9948

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Journal of Zhejiang University SCIENCE A 2024 Vol.25 No.9 P.701-715

http://doi.org/10.1631/jzus.A2300343


Light weight design and integrated method for manufacturing hydraulic wheel-legged robots


Author(s):  Xu LI, Haoyang YU, Huaizhi ZONG, Haibo FENG, Yili FU

Affiliation(s):  State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; more

Corresponding email(s):   hitlx@hit.edu.cn, meylfu@hit.edu.cn

Key Words:  Wheel-legged robot, Hydraulic driven, Topology optimization, Additive manufacturing (AM), Jump control


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.

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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.

液压轮腿机器人的轻量化设计与一体化制造方法

作者:李旭1,2,于淏阳1,纵怀志2,封海波1,付宜利1
机构:1哈尔滨工业大学,机器人技术与系统国家重点实验室,中国哈尔滨,150001;2浙江大学,流体动力基础件与机电系统全国重点实验室,中国杭州,310058
目的:设计和制造方法对液压驱动机器人的研制至关重要。本文将建立液压轮腿机器人从概念模型到实际机器人的完整研制过程,所提出的轻量化设计与一体成型制造(LD&IM)方法使机器人研制过程更加高效,可实现45%的减重目标和0.45 m的竖直跳跃。
创新点:1.提出基于拓扑优化与衍生设计的液压轮腿机器人的轻量化设计方法和基于3D打印的一体成型制造方法;2.提出一种基于线性二次型调节器(LQR)的轮腿机器人跳跃控制方法。
方法:1.采用基于拓扑优化和衍生设计的强量化设计方法,实现轮腿机器人结构45%的减重目标;2.结合选择性激光熔化工艺和相应的高精度抛光的一体成型制造工艺,快速高效地完成高质量零件的一体成形;3.在单轮腿机器人的平衡控制回路中使用LQR和基于零动态的控制器,将弹簧负载倒立摆(SLIP)模型应用于机器人跳跃运动的轨迹规划。
结论:1.采用基于拓扑优化与衍生设计的液压轮腿机器人轻量化设计方法,实现了45%的减重目标;2.精密加工与3D打印相结合的一体成型制造方法使机器人研制过程更加高效;3.基于LQR的平衡控制器和基于SLIP的跳跃轨迹规划器应用于WLR-IV单腿,实现了0.45m的竖直跳跃。

关键词:轮腿机器人;液压驱动;拓扑优化,增材制造;跳跃控制

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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