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The efficiency of hydraulic drive system has become one of the significant issues in mobile robot. In this paper, an energy efficient two-stage supply pressure hydraulic system is proposed to solve the energy waste in the one-stage supply pressure system of the downhole traction robot. This novel two-stage hydraulic system can match different pressure requirements of actuator by changing the modes of supply pressure, which is helpful to reduce the energy loss and improve the efficiency for traction robot. Based on the robot working principle, the load characteristics in different actuators are obtained and the shortage in traditional hydraulic system is analyzed. The novel hydraulic system which consists of a high-pressure source and a low-pressure source is designed, including the system structure and energy supply method. According to the energy flow process, energy loss models of the system and components are established to analyze energy-saving principle of the novel hydraulic system. The feasibility and efficiency of two-stage supply pressure system are verified by simulating the operating process of telescopic mechanism. Finally, the simulation shows that control precision of the novel system can reach 3.5 mm and the efficiency is increased to 59.53%, which can provide theoretical reference for design of hydraulic drive system in traction robot and the efficiency improvement of multiactuator mobile robot.

An Energy Efficient Two-Stage Supply Pressure Hydraulic System for the Downhole Traction Robot