[2024-Vol.21-Issue 3]Biomimetic Lightweight Design of Legged Robot Hydraulic Drive Unit Shell Inspired by Geometric Shape of Fish Bone Rib Structure
发布时间: 2024-05-30 10:47  点击:255

Journal of Bionic Engineering (2024) 21:1238–1252

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

Zhipeng Huang1 · Xinjie Li1 · Xikang Guan1 · Xueqing Sun2 · Chenxu Wang1 · Yuepeng Xu1 · Bin Yu1,3 · Xiangdong Kong1,3 

1 School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China

2 School of Arts and Design, Yanshan University, Qinhuangdao 066004, China

3 Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Qinhuangdao 066004, China


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 fsh 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 fsh bone reinforcing ribs structure is proposed. Then, the MATLAB toolbox and ANSYS fnite 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 fsh 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.

Keywords Hydraulic drive unit · Lightweight design of shell · Biomimetic fsh bone structure design · Dynamic and static performance testing


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