液压四足机器人元件与液压系统研究现状与发展趋势  

Research Progress and Development of Hydraulic Components and Systems for Hydraulic Actuated Quadruped Robot

作　　者：纵怀志 张军辉[1] 张堃[1] 黄信菩 张付 陆振宇[2] 王西蒙 徐兵[1] ZONG Huai-zhi;ZHANG Jun-hui;ZHANG Kun;HUANG Hsinpu;ZHANG Fu;LU Zhen-yu;WANG Xi-meng;XU Bing(State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, Zhejiang 310027;School of Mechatronic Engineering, Nanchang University, Nanchang, Jiangxi 330031)

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027 [2]南昌大学机电工程学院,江西南昌330031

出　　处：《液压与气动》2021年第8期1-16,共16页Chinese Hydraulics & Pneumatics

基　　金：国家重点研发计划(2019YFB2005101);国家优秀青年科学基金(51922093)。

摘　　要：针对液压四足机器人结构布局混乱、能量损失大及控制策略复杂等问题,从机器人整机、液压系统和控制策略3个角度分析了液压四足机器人的研究现状。首先,对各团队的机器人进行介绍,指出国内外的技术差距;然后,从动力来源、系统类型、液压回路和伺服执行元件4个方面对液压系统的主要2大构成分别阐述,着重介绍了以节能为目的的阀控系统和集成化、一体化的伺服执行器;接着概述了主流的几种控制策略,并分析各自的优缺点;最后,指出液压四足机器人的发展方向将集中在高速高压化、轻量化、节能降噪以及先进的控制算法,以实现液压四足机器人的高动态性能和行业应用。Aiming at the current problems of the hydraulically actuated quadruped robot,such as chaotic structure,large energy loss and complex control strategy,the research status of quadruped robot is analyzed from the robot,hydraulic system and control strategy.Firstly,the robot of each team is introduced,and the technological gap between China and developed countries is pointed out.Then,the main two components of the hydraulic system are described from four aspects:power source,system types,hydraulic circuit and servo actuator,during which the energy saving system and highly integrated servo actuator are introduced in details.Then several mainstream control strategies are summarized,and their respective advantages and disadvantages are pointed out.Finally,the future trends of hydraulically actuated quadruped robot will concentrate on high speed,high pressure,lightweight,energy-saving system,noise reduction and advanced control algorithm,so as to realize the high dynamic performance and industrial application.

关 键 词：四足机器人 机载液压系统 液压执行器 控制策略 

分 类 号：TH137[机械工程—机械制造及自动化] TH322