四足仿生移动平台车载液压动力系统设计

Design of Vehicle-mounted Hydraulic Power System of Bionic Quadruped Mobile Platform

四足仿生移动平台车载液压动力系统是机器人室外行走的动力来源。为设计四足仿生移动平台高功率密度的车载液压动力系统,根据四足仿生移动平台外接液压泵站试验所获得的试验数据,精确地计算车载液压系统的流量和蓄能器的容积参数。在对液压系统流量分析的基础上,计算车载液压系统连接管路的相关参数。考虑系统中伺服阀和变量泵对油液的清洁度非常敏感,提出车载液压系统的污染控制措施。设计的高功率密度的车载液压动力系统已实现四足仿生移动平台的室外行走功能。

The vehicle-mounted hydraulic power system is a power source of quadruped robot walking in the outdoor. A vehicle-mounted hydraulic power system with high power density is designed for the bionic quadruped mobile platform. Based on the test data of quadruped mobile platform which is driven by the external hydraulic power station,the flow of vehicle-mounted hydraulic system and the volume parameters of accumulator are exactly calculated. The parameters of connecting line in hydraulic system are also calculated based on the analysis of the flow of the hydraulic system. Considering the servo valve and variable displacement pump in the system,which are very sensitive to the oil cleanliness,the pollution control measures of vehicle hydraulic system are proposed. The vehicle-mounted hydraulic power system has already been used in a quadruped mobile platform walking in the outdoor.