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A Vibration Study of a Hydraulically-Actuated Legged Machine

[+] Author Affiliations
Emanuele Guglielmino, Ferdinando Cannella, Claudio Semini, Darwin G. Caldwell

Italian Institute of Technology, Genoa, Italy

Nestor Eduardo Nava Rodríguez, Guillermo Vidal

Carlos III University, Madrid, Spain

Paper No. IMECE2010-37514, pp. 1077-1083; 7 pages
  • ASME 2010 International Mechanical Engineering Congress and Exposition
  • Volume 8: Dynamic Systems and Control, Parts A and B
  • Vancouver, British Columbia, Canada, November 12–18, 2010
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4445-8
  • Copyright © 2010 by ASME


This paper presents a study on the impact of the vibration on a hydraulically-actuated legged robot designed for outdoor operations. The choice of using hydraulic actuation in lieu of electric actuation as is common in robotics has been driven by the need to cope with heavy loads and respond swiftly to external inputs and disturbances. However in such machines hydraulically-induced vibration (fluid borne noise and structure borne noise) is a major issue. Volumetric pumpmotor assembly is a primary cause of vibration. These are transmitted to the robotic structure, which has been designed as light as possible to minimise the robot’s total weight and power consumption and make it more agile. Initially a multi-body analysis of the robot was carried out to select an appropriate vibration isolation system. Subsequently a numerical and experimental modal analysis was carried out on the structure. The latter was carried with modal hammer tests and pump running tests. This has allowed identifying the main modes of vibration of the structure. The pros and cons of this approach are described and areas of improvements identified.

Copyright © 2010 by ASME
Topics: Machinery , Vibration



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