Biomimetic Lightweight Design of Legged Robot Hydraulic Drive Unit Shell Inspired by Geometric Shape of Fish Bone Rib Structure

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 capacity. However, the lightweight design of HDU is a huge challenge due to the need for...

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Bibliographic Details
Published in:Journal of bionics engineering 2024-05, Vol.21 (3), p.1238-1252
Main Authors: Huang, Zhipeng, Li, Xinjie, Guan, Xikang, Sun, Xueqing, Wang, Chenxu, Xu, Yuepeng, Yu, Bin, Kong, Xiangdong
Format: Article
Language:English
Subjects:
Artificial Intelligence
Biochemical Engineering
Bioinformatics
Biomaterials
Biomedical Engineering and Bioengineering
Biomedical Engineering/Biotechnology
Engineering
Research Article
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Summary: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 capacity. However, the lightweight design of HDU is a huge challenge due to the need for structural strength. This 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 weight. First, a HDU shell with biomimetic fish bone reinforcing ribs structure is proposed. Then, 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 shell. Finally, 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 HDU. The 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 model. This work has broad application prospects in the lightweight and high-strength design of closed-pressure vessel components.
ISSN:1672-6529
2543-2141
DOI:10.1007/s42235-023-00431-0