磁性液态金属驱动微型轮式机器人设计与运动研究  

Structural design and motion study of micro-wheeled robot driven by magnetic liquid metal

作　　者：韩锡镇 袁锐波[1] 宋东明 覃学巨 梁松炜 李滔 HAN Xizhen;YUAN Ruibo;SONG Dongming;QIN Xueju;LIANG Songwei;LI Tao(Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650504,China;Yunnan Frontier Liquid Metal Research Institute Co.,Ltd.,Kunming 650504,China)

机构地区：[1]昆明理工大学机电工程学院,昆明650504 [2]云南前沿液态金属研究院有限公司,昆明650504

出　　处：《重庆理工大学学报（自然科学）》2024年第9期128-134,共7页Journal of Chongqing University of Technology：Natural Science

基　　金：云南省重大科技专项计划资助项目(202202AC080008)。

摘　　要：将磁性粉末(Fe/Ni混合粉末)引入镓基液态金属中,使其具有良好的磁性,并最大程度地保留其流动性。将磁性液态金属用作轮式机器人的驱动部件,结合变重心理论,使其成为轮式机器人的动力来源,设计微小型轮式机器人结构,并通过三维软件Solidworks建立机器人模型,分析磁性液态金属和轮式机构的受力情况,只要驱动力大于摩擦阻力,可实现轮式机器人直线运动。采用仿真模拟方式,利用Adams软件对轮式机器人在驱动力F=2.1×10^(-3)N的作用下进行运动分析,此驱动力大于摩擦阻力,轮式机器人在0~10 s的运动区间内做匀加速直线运动,且平均速度为330.48 mm/s;在F=1×10^(-4)N的作用下,此驱动力等于摩擦阻力,2.65 s后轮式机器人做匀速直线运动,其速度为150 mm/s,驱动力F的大小可通过调节磁场强度进行调控,以满足各种运动速度大小的需求。In this paper,magnetic powder(Fe/Ni mixed powder)is introduced into gallium based liquid metal to achieve satisfactory magnetism and retain its fluidity to the greatest extent.Magnetic liquid metal alloy is used as the driving component of wheeled robot,and combined with the theory of shifting center of gravity,it becomes the power source of wheeled robot,and micro-miniature wheeled robot structure is designed.The robot model is built by three-dimensional software Solidworks.The force of magnetic liquid metal alloy and wheeled mechanism is analyzed.It is concluded that linear motion of wheeled robot could be realized as long as the driving force is greater than the friction resistance.Moreover,Adams software is employed to analyze the motion of the wheeled robot under the driving force F=2.1×10^(-3) N,in which the driving force is greater than the friction resistance.Our results show the wheeled robot performs uniformly accelerated linear motion within the motion interval of 0-10 seconds,and its average speed is 330.48 mm/s.Under the action of F=1×10^(-4) N(the driving force is equal to the friction resistance),2.65 seconds later,the wheeled robot does uniform linear motion with a speed of 150 mm/s.Its driving force F is adjusted by the magnetic field strength to meet the needs of various motion speeds.

关 键 词：磁性镓基液态金属 流体驱动 变重心 轮式机器人 运动分析 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]