Abstract. In this research, an electrohydraulic servo four-legged heavy-duty (FLHD) robot has been designed and developed. The study proposes an integration layout cylinder design scheme for a non-lightweight hydraulic servo four-legged robot with high loads and torques of hip joint and derives the mathematical element analysis model for a parallel-executed cylinder (PEC) system. The multiple inherent characteristics of the PEC integration system model are explored further. Based on the controllable functional requirements of interconnected joints, and to weaken the influence of internal force coupling, a force–position hybrid control scheme for the PEC is designed, and the force–position signal module design unit is used to solve the force–position hybrid control in reverse. Considering the inherent requirements of the servo-executed cylinder (SEC) force control unit module (CUM), the implementation process of magnetic flux compensation and speed compensation is discussed in detail. The minimum amplitude controller is applied to the SEC force CUM, and the proportional integrated controller has been determined in the SEC position CUM. A compound control strategy proposed in this paper is verified on a parallel hydraulic servo platform. The experimental verification results reveal that the values of position/force attenuation amplitude and lag phase are not greater than 9 % and 18∘, respectively. The feasibility of the interconnected implementation of the hybrid control scheme proposed in this paper is further increased. The conclusions of this research will be useful for application in fields of four-legged heavy-load (FLHL) robot control systems.

In this research subtopic, an electro-hydraulic servo four-legged heavy load (FLHL) robot has been designed and developed. This paper proposes an integration layout cylinder design scheme for a non-lightweight hydraulic servo four-legged robot with high loads and torques of hip joint, and derives the mathematical element analysis model for a parallel hydraulic servo cylinder system. The multiple inherent characteristics of the parallel-executed cylinder integration system model are further explored. Based on the controllable functional requirements of interconnected joints and weakening the influence of internal force coupling, a design idea of force/position hybrid control scheme for the parallel-executed cylinder is determined, and then the force/position signal module design unit is used to reversely solve the force/position hybrid control. Considering the inherent requirements of the servo-executed cylinder force control unit module, the implementation process of magnetic flux compensation and speed compensation is discussed in detail. The minimum amplitude controller is applied to the servo-executed cylinder force unit module, and the proportional integrated controller has been determined in the servo-executed cylinder position control unit module. A compound control strategy proposed in this paper is verified on a parallel hydraulic servo platform. The experimental verification results reveal that the values of position/force attenuation amplitude and lag phase are not greater than 9 % and 18°, respectively. In addition, the feasibility of the interconnected implementation of the hybrid control scheme proposed in this paper is further deepened. The effective conclusion of this research will be accepted in the application field of FLHL robot control system.

Abstract. Previous studies have attempted to identify weak links in the dynamic characteristics of the planetary gear reducer (PGR) exterior body structure (EBS). Through numerical simulation, these studies analyzed the mode and natural frequencies and the vibration types of each order of the EBS. However, these scholars have never focused on the main factors affecting the dynamic characteristics of the EBS of this subject. This study in the topic has analyzed the vibroacoustic characteristics of an EBS and optimized its design using numerical simulation. Herein, the contribution of the vibration transfer path from the excitation points on the exterior body to the machine foot is emphatically revealed, and the influences of the main structural parameters on the transfer characteristics are discussed. An optimal EBS for a PGR with lower acoustic vibrations is designed in detail, and a composite EBS with damping vibration attenuation and acoustic absorption is proposed. The radiation acoustic characteristics without acoustic protection and damping materials are analyzed. These research results are implemented in order to realize the dynamic characteristics, transmission, and radiation acoustic characteristics as objects of optimization, and the structural design parameters of the PGR exterior body are deeply optimized using dynamic modification and sensitivity analysis. This topic focuses on the vibroacoustic coupling of EBS in stationary fluid and average flow field. Based on the analysis method of theoretical modeling and numerical calculation, the EBS dynamic response and vibroacoustic characteristics under the action of frontal excitation external acoustic flow field are studied, which will be beneficial to explore the comprehensive optimization design of PGR dynamic and vibroacoustic properties.

Abstract. This study conducts an analytical investigation of the dynamic response characteristics of a two-stage series composite system (TsSCS) with a planetary transmission consisting of dual-power branches. An improved incremental harmonic balance (IHB) method, which solves the closed solution of incremental parameters passing through the singularity point of the analytical path, based on the arc length extension technique, is proposed. The results are compared with those of the numerical integration method to verify the feasibility and effectiveness of the improved method. Following that, the multi-scale perturbation (MsP) method is applied to the TsSCS proposed in this subject to analyze the parameter excitation and gap nonlinear equations and then to obtain the analytical frequency response functions including the fundamental, subharmonic, and superharmonic resonance responses. The frequency response equations of the primary resonance, subharmonic resonance, and superharmonic resonance are solved to generate the frequency response characteristic curves of the planetary gear system (PGS) in this method. A comparison between the results obtained by the MsP method and the numerical integration method proves that the former is ideal and credible in most regions. Considering the parameters of TsSCS excitation frequency and damping, the nonlinear response characteristics of steady-state motion are mutually converted. The effects of the time-varying parameters and the nonlinear deenthing caused by the gear teeth clearance on the amplitude–frequency characteristics of TsSCS components are studied in this special topic.

Previous studies have attempted to identify weak links in the dynamic characteristics of the planetary gear reducer (PGR) exterior body structure (EBS). Through numerical simulation, these studies analyzed the modals and natural frequencies and the vibration types of each order of the EBS. However, these scholars have never focused on the main factors affecting the dynamic characteristics of the EBS of this subject. This study in the topic has analyzed the vibroacoustic characteristics of an EBS and optimized its design using numerical simulation. Herein, the contribution of the vibration transfer path from the excitation points on the exterior body to the machine foot is emphatically revealed, and the influences of the main structural parameters on the transfer characteristics are discussed. An optimal EBS for a PGR with lower acoustic vibrations is designed in detail, and a composite EBS with damping vibration attenuation and acoustic absorption is proposed. The radiation acoustic characteristics without acoustic protection and damping materials are analyzed. These research results are implemented in order to realize the dynamic characteristics, transmission, and radiation acoustic characteristics as objects of optimization, and the structural design parameters of the PGR exterior body are deeply optimized using dynamic modification and sensitivity analysis. This topic focuses on the vibroacoustic coupling of EBS in stationary fluid and average flow field, based on the analysis method of theoretical modeling and numerical calculation, the EBS dynamic response and vibroacoustic characteristics under the action of frontal excitation external acoustic flow field are studied, which will be beneficial to explore the comprehensive optimization design of GPR dynamic and vibroacoustic properties.