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On-line Access: 2024-01-26
Received: 2023-03-28
Revision Accepted: 2023-07-24
Crosschecked: 2023-09-09
Cited: 0
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Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization
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Huaizhi Zong, Junhui Zhang, Lei Jiang, Kun Zhang, Jun Shen, Zhenyu Lu, Ke Wang, Yanli Wang & Bing Xu . Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization[J]. Journal of Zhejiang University Science D, 2024, 7(1): 1-13.
@article{title="Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization",
author="Huaizhi Zong, Junhui Zhang, Lei Jiang, Kun Zhang, Jun Shen, Zhenyu Lu, Ke Wang, Yanli Wang & Bing Xu ",
journal="Journal of Zhejiang University Science D",
volume="7",
number="1",
pages="1-13",
year="2024",
publisher="Zhejiang University Press & Springer",
doi="10.1007/s42242-023-00256-0"
}
%0 Journal Article
%T Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization
%A Huaizhi Zong
%A Junhui Zhang
%A Lei Jiang
%A Kun Zhang
%A Jun Shen
%A Zhenyu Lu
%A Ke Wang
%A Yanli Wang & Bing Xu
%J Journal of Zhejiang University SCIENCE D
%V 7
%N 1
%P 1-13
%@ 1869-1951
%D 2024
%I Zhejiang University Press & Springer
%DOI 10.1007/s42242-023-00256-0
TY - JOUR
T1 - Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization
A1 - Huaizhi Zong
A1 - Junhui Zhang
A1 - Lei Jiang
A1 - Kun Zhang
A1 - Jun Shen
A1 - Zhenyu Lu
A1 - Ke Wang
A1 - Yanli Wang & Bing Xu
J0 - Journal of Zhejiang University Science D
VL - 7
IS - 1
SP - 1
EP - 13
%@ 1869-1951
Y1 - 2024
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1007/s42242-023-00256-0
Abstract: Galloping cheetahs, climbing mountain goats, and load hauling horses all show desirable locomotion capability, which
motivates the development of quadruped robots. Among various quadruped robots, hydraulically driven quadruped robots
show great potential in unstructured environments due to their discrete landing positions and large payloads. As the most
critical movement unit of a quadruped robot, the limb leg unit (LLU) directly affects movement speed and reliability, and
requires a compact and lightweight design. Inspired by the dexterous skeleton–muscle systems of cheetahs and humans, this
paper proposes a highly integrated bionic actuator system for a better dynamic performance of an LLU. We propose that a
cylinder barrel with multiple element interfaces and internal smooth channels is realized using metal additive manufacturing,
and hybrid lattice structures are introduced into the lightweight design of the piston rod. In addition, additive manufacturing
and topology optimization are incorporated to reduce the redundant material of the structural parts of the LLU. The mechanical
properties of the actuator system are verified by numerical simulation and experiments, and the power density of the actuators
is far greater than that of cheetah muscle. The mass of the optimized LLU is reduced by 24.5%, and the optimized LLU shows
better response time performance when given a step signal, and presents a good trajectory tracking ability with the increase
in motion frequency.
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