Multi-joint heavy-duty manipulators, such as working devices of hydraulic excavators, are mostly driven by hydraulic cylinders. Poor energy efficiency of the hydraulic system results in serious energy waste. In this paper, a novel electro-hydraulic hybrid driving (EHHD) system consisting of an electrically active driving system and a hydraulically passive driving system is presented to cope with the special operating characteristics of the heavy-duty manipulator. In the research, a co-simulation model of the proposed system is established, and the key parameters are designed through simulation. On the basis, a test prototype was established to verify the effectiveness and energy efficiency of the proposed system. The results prove that, compared with the popular load-sensing system, the energy consumption in one cycle of boom lifting and lowering process is reduced by 70%.

多关节重型机械手，例如液压挖掘机的工作装置，大多由液压缸驱动。液压系统的能源效率差会导致严重的能源浪费。为了适应重型机械手的特殊工作特性，本文提出了一种由电主动驱动系统和液力被动驱动系统组成的新型电液混合驱动（EHHD）系统。在研究中，建立了该系统的协同仿真模型，并通过仿真设计了关键参数。在此基础上，建立了测试原型，以验证所提出系统的有效性和能效。结果证明，与流行的负载感应系统相比，