多足步行机器人液压控制系统研究现状与发展趋势

doi:10.13973/j.cnki.robot.170579

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翟硕, 虞拯, 金波. 多足步行机器人液压控制系统研究现状与发展趋势[J]. 机器人, 2018, 40(6): 958-968.DOI: 10.13973/j.cnki.robot.170579. ZHAI Shuo, YU Zheng, JIN Bo. Research Status and Development Trend of Hydraulic Control System for Multi-legged Walking Robot. ROBOT, 2018, 40(6): 958-968. DOI: 10.13973/j.cnki.robot.170579.

摘要针对多足步行机器人液压系统能量损失较大、结构相对单一及控制策略相对复杂等问题，从机器人液压系统和控制策略2个方面分析了多足步行机器人液压控制系统现状．将液压系统从泵源、液压执行器和液压控制结构3个方面分别阐述．从动力来源和油路结构介绍了泵源，从结构分类、一体化集成和特殊功能简述了不同液压执行器的应用，从阀控液压系统和泵控液压系统介绍了液压控制结构．从自由空间和约束空间两方面介绍了系统控制策略．多足步行机器人液压系统的发展方向包括小型化、轻量化、节能降耗、降低噪声和泄漏以及对控制策略的改进．

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关键词 ：多足步行机器人, 液压系统, 控制策略

Abstract：Problems of the hydraulic system of multi-legged walking robot are focused, such as large energy loss, relatively single structure, and complex control strategy. Status of the hydraulic control system of multi-legged walking robot is analyzed in two aspects, i.e. hydraulic system and control strategy. Firstly, the hydraulic system is separately elaborated from pump unit, hydraulic manipulator and hydraulic control structure. The pump unit is introduced from the power source and the structure of oil circuit. The applications of different hydraulic manipulators are briefly described according to the structure classification, the integration and the special functions. The hydraulic control structure is classified into the valve control system and the pump control system. Secondly, the system control strategies for the free space and the constrained space are introduced. The development directions of the hydraulic system of multi-legged walking robot include miniaturization, weight reduction, energy saving, noise suppression, leakage reduction, and improvement of the control strategy.

Key words： multi-legged walking robot hydraulic system control strategy

收稿日期: 2017-10-19 录用日期: 2018-03-30

:	TP242
	TH137

基金资助:国家自然科学基金创新研究群体科学基金（51521064）

通讯作者: 金波,bjin@zju.edu.cn E-mail: bjin@zju.edu.cn

作者简介: 翟硕(1994-),男,博士生.研究领域:智能机器人,电液控制
虞拯(1971-),男,学士,助理工程师.研究领域:电液控制,液压元件
金波(1971-),男,博士,教授.研究领域:机电控制,智能机器人,深海机电装备.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.170579 或 https://robot.sia.cn/CN/Y2018/V40/I6/958

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