引文信息：
Zhipeng Huang, Xinjie Li, Xikang Guan, Xueqing Sun, Chenxu Wang, Yuepeng Xu, Bin Yu & Xiangdong Kong, Biomimetic Lightweight Design of Legged Robot Hydraulic Drive Unit Shell Inspired by Geometric Shape of Fish Bone Rib Structure. Journal of Bionic Engineering，2024，21（3），1238- 1252.
Biomimetic Lightweight Design of Legged Robot Hydraulic Drive Unit Shell Inspired by Geometric Shape of Fish Bone Rib Structure
Zhipeng Huang, Xinjie Li, Xikang Guan, Xueqing Sun, Chenxu Wang, Yuepeng Xu, Bin Yu & Xiangdong Kong
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.
Abstract
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.
Fig. W1 Schematic diagram of the fishbone model. a Whole fish diagram; b Fishbone model ; c Circular plate model with reinforced ribs mimicking fish bones; d The static simulation results of the circular plate model: (d1) Strain diagram of the circular plate model; (d2) Stress diagram of the circular plate model.
Fig. W2 Fishbone biomimetic reinforcing rib shell. a Fishbone biomimetic reinforcing rib shell diagram; b Structural description of the fishbone biomimetic reinforcing rib shell.
Fig. W3 Static structural strength analysis of the HDU shell. a The strain diagram of the original shell's static structural strength analysis; b The stress diagram of the original shell's static structural strength analysis; c The strain diagram of the shell with the fishbone biomimetic reinforcing rib structure's static structural strength analysis; d The stress diagram of the shell with the fishbone biomimetic reinforcing rib structure's static structural strength analysis.
Fig. W4 Strain testing of the HDU shell. a Strain gauge attachment on the surface of the original model shell; b Strain gauge attachment on the surface of the shell with the biomimetic reinforcing rib structure; c Surface strain testing results of the original model shell; d Strain testing results of the shell with the biomimetic reinforcing rib structure(the piston is fully extended); e Strain testing results of the shell with the biomimetic reinforcing rib structure(the piston is fully retracted).
Information Publisher: Zhipeng Huang, Xinjie Li, Xikang Guan, Xueqing Sun, Chenxu Wang, Yuepeng Xu, Bin Yu & Xiangdong Kong
Information Release Unit: School of Mechanical Engineering, Yanshan University
Information Source: https://rdcu.be/dIesr
