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Biomimetic lightweight design of Legged Robot Hydraulic Drive Unit shell Inspired by Geometric Shape of Fish Bone Rib Structure

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Journal of Bionic Engineering 2024年第3期21卷 1238-1252页

作者： Zhipeng Huang Xinjie Li Xikang Guan Xueqing Sun Chenxu Wang Yuepeng Xu Bin Yu Xiangdong Kong School of Mechanical Engineering Yanshan UniversityQinhuangdao066004China School of Arts and design Yanshan UniversityQinhuangdao066004China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Qinhuangdao066004China

The lightweight design of hydraulic quadruped robots,especially the lightweight design of the leg joint Hydraulic Drive Unit(HDU),can improve the robot's response speed,motion speed,endurance,and load ***,the lightweight design of HDU is a huge challenge due to the need for structural *** paper is inspired by the geometric shape of fish bones and biomimetic reinforcing ribs on the surface of the HDU shell are designed to increase its strength and reduce its ***,a HDU shell with biomimetic fish bone reinforcing ribs structure is ***,the MATLAB toolbox and ANSYS finite element analysis module are used to optimize the parameters of the biomimetic reinforcing ribs structure and the overall layout of the ***,the HDU shell is manufactured using additive manufacturing technology,and a performance testing platform is built to conduct dynamic and static performance tests on the designed *** experimental results show that the HDU with biomimetic fish bone reinforcing ribs has excellent dynamic performance and better static performance than the prototype model,and the weight of the shell is reduced by 20%compared to the prototype *** work has broad application prospects in the lightweight and high-strength design of closed-pressure vessel components.

关键词： Hydraulic drive unit lightweight design of shell Biomimetic fish bone structure design Dynamic and static performance testing

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