Topology optimization design of a lightweight integrated manifold with low pressure loss in a hydraulic quadruped robot actuator

Abstract. In recent years, hydraulic quadruped robots have received increasing attention because of their strong environment adaptability and high load capacity. However, weight control is an important issue for mobile systems in consideration of limited onboard energy. Overweight will cause extra load on joints, reduce the flexibility of movement, and consume more power. Topology optimization is an effective tool to reduce volume and weight while maintaining enough strength. This article takes both optimal geometries and contained flow channels into consideration and gives solutions to structure design and good print quality in a manifold used on a robot. Using topology optimization, the volume of the manifold is further reduced by 50.7 %, while it can meet the mechanical requirement for actual application.