Design of lightweight hydraulic power unit for legged robots based on the Sobol sensitivity analysis

被引：0

作者：

Yu, Bin ^{[1
]}

Li, Huashun ^{[1
]}

Gu, Chengze ^{[1
]}

Shen, Ao ^{[1
]}

Zhang, Shuai ^{[1
]}

Liu, Xu ^{[1
]}

Li, Jingbin ^{[1
]}

Ba, Kaixian ^{[1
]}

Ma, Guoliang ^{[1
]}

Kong, Xiangdong ^{[1
]}

机构：

[1] Yanshan Univ, Sch Mech Engn, Qinhuangdao 066004, Peoples R China

来源：

ENERGY CONVERSION AND MANAGEMENT | 2025年 / 328卷

基金：

中国国家自然科学基金;

关键词：

Lightweight; Hydraulic power unit; Sensitivity analysis; Legged robot;

D O I：

10.1016/j.enconman.2025.119620

中图分类号：

O414.1 [热力学];

学科分类号：

摘要：

Reducing the weight of the legged robot improves its endurance, maneuverability, and carrying capacity, enabling it to perform more complex tasks, such as transitioning from walking on flat terrain to executing challenging jumps. As the core energy source of a hydraulic legged robot, the weight of hydraulic power unit (HPU) accounts for more than 50% of the entire robot, offering significant potential for weight reduction. However, the design and sizeing parameters of the HPU are complex, and the key factors influencing its weight are not fully unclear, making targeted optimization challenging. To solve the above problems, this paper designs a lightweight hydraulic power unit (LHPU) for the legged robot based on the Sobol sensitivity analysis method. First, a weight model for the LHPU's key components is established, and the key parameters influencing its weight are determined using the Sobol sensitivity analysis method. Then, key parameters matching is optimized for the motor-pump, and design improvements are made to components like the low-pressure tank, filter, and integrated block. Finally, the LHPU is tested for static and dynamic characteristics. The findings demonstrate that the LHPU can stabilize the required pressure and flow outputs for the legged robot and achieve a weight reduction exceeding 40%. This research offers significant insights for the lightweight design of advanced mobile systems, enhancing energy efficiency, mobility, and load capacity.

引用

页数：14

共 36 条

[1] Shi Y.-P., Yu B., Ba K.-X., Li M.-T., A unified trajectory optimization approach for long-term and reactive motion planning of legged locomotion, J. Bionic Eng., 20, 5, (2023)
[2] Li J.-Q., Cong D.-C., Yang Y., A hydraulic actuator for joint robots with higher torque to weight ratio, Robotica, 41, 2, pp. 756-774, (2023)
[3] Xu S.-Y., Nunez C.M., Souri M., Wood R.J., A compact DEA-based soft peristaltic pump for power and control of fluidic robots, Sci. Rob., 8, 79, pp. 1-15, (2023)
[4] Biswal P., Mohanty P.K., Development of quadruped walking robots: A review, Ain Shams Eng. J., 12, 2, pp. 2017-2031, (2021)
[5] Ma G.-L., Gao F.-Y., Zhang M.-Z., Wang Y., Gu C.-T., Meng F.-T., Et al., An endurable triboelectric nanogenerator for wind energy harvesting based on centrifugal force induced automatic switching between sliding and rolling modes, ACS Sustain. Chem. Eng., 12, 34, pp. 12956-12965, (2024)
[6] Ba K.-X., Song Y.-H.
[7] Cho B.-Y., Kim S.-W., Shin S.-H., Oh J.-H., Park H.-S., Park H.-W., Energy-efficient hydraulic pump control for legged robots using model predictive control, IEEE/ASME Trans. Mechatron., 28, 1, pp. 3-14, (2023)
[8] Zappaterra F., Pan D.-H., Ransegnola T., Vacca A., Sudhoff S.D., Busquets E., A novel electro-hydraulic unit design based on a shaftless integration of an internal gear machine and a permanent magnet electric machine, Energ. Conver. Manage., 310, (2024)
[9] Yu B., Li H.-S., Ma G.-L., Liu X., Chen C.-H., Zheng B.-H., Et al., Design and Matching Control Strategy of Eleetro-Hydraulic Load-Sensitive Hydraulic Power Unit for Legged Robots, Energy, 313, (2024)
[10] Yang J., Liu B., Zhang T.-Z., Hong J.-C., Zhang H.-X., Application of energy conversion and integration technologies based on electro-hydraulic hybrid power systems: A review, Energ. Conver. Manage., 272, (2022)

← 1 2 3 4 →