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化学反应自驱动滚动机器人设计与实验

Design of Chemical Reaction Self-driven Rolling Robot

  • 摘要: 滚动机器人常采用外置电源或气源驱动,限制了滚动机器人的运动场景和活动范围。本文设计了一种化学反应自驱动滚动机器人机器人内部放有反应液和催化剂通过化学反应产生气体,推动反应液在多个腔室内循环流动从而改变机器人重心实现滚动;设计了滚动机器人的关键部件——重力阀重力阀在不同角度下实现周期性的开闭,从而控制流体。通过实验对重力阀的结构参数进行优化,使其在满足开闭角度要求的前提下,泄漏量最低;分析了滚动机器人实现自驱动的参数和条件获得了最低液位线、最高液位线与重力阀开闭角度之间的关系;应用滚动机器人进行实验结果表明,其最高滚动角速度为2(°)/s,验证了该化学反应自驱动滚动机器人设计的可行性,为化学反应自驱动在机器人领域的应用提供了思路。

     

    Abstract: Rolling robots often use external electric power or pneumatic drive,which limits the usage of them.A chemical reaction self-driven rolling robot was designed.Reaction liquid and catalyst were placed inside the robot.The gas generated by the chemical reaction pushed the reaction liquid to circulate in the multiple cavities of the robot,changing the center of gravity of the robot to achieve rolling.Gravity valve was designed,which was the key component of rolling robot.The gravity valve can be opened and closed periodically at different angles to control the flow.The gravity valve was made of silicone rubber and copper balls.The structure size of the gravity valve was optimized,and the leakage amount reached the minimum under the conditions of required opening and closing angle.The parameters and conditions of the rolling robot to achieve self-drive were analyzed,and the relationship between the lowest liquid level line,the highest liquid level line,the opening angle and closing angle of the gravity valve was obtained.The body of the rolling robot was made by 3 D printing.Rotational angular velocity of the rolling robot was about 2(°)/s.The feasibility of this kind of chemical reaction self-driven rolling robot was verified,and a new idea was provided for the application of chemical reaction self-driven in the field of robots.

     

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