Design of Vehicle-mounted Hydraulic Power System of Bionic Quadruped Mobile Platform

摘要

The vehicle-mounted hydraulic power system is a power source of quadruped robot walking in the outdoor. A vehicle-mounted hydraulic power system with high power density is designed for the bionic quadruped mobile platform. Based on the test data of quadruped mobile platform which is driven by the external hydraulic power station,the flow of vehicle-mounted hydraulic system and the volume parameters of accumulator are exactly calculated. The parameters of connecting line in hydraulic system are also calculated based on the analysis of the flow of the hydraulic system. Considering the servo valve and variable displacement pump in the system,which are very sensitive to the oil cleanliness,the pollution control measures of vehicle hydraulic system are proposed. The vehicle-mounted hydraulic power system has already been used in a quadruped mobile platform walking in the outdoor.