用于仿植物生长机器人的压力、流量双闭环液驱系统  

Pressure and Flow Dual Closed-loop Liquid Drive System for Plant-like Growth Robots

作　　者：黄鹏 高晋阳 田思雨 马欣瑜 马子毓 HUANG Peng;GAO Jinyang;TIAN Siyu;MA Xinyu;MA Ziyu(State Key Laboratory of Dynamic Measurement Technology,North University of China,Taiyuan 030051;Shanxi Key Laboratory of Advanced Manufacturing Technology,North University of China,Taiyuan 030051)

机构地区：[1]中北大学动态测试技术国家重点实验室,太原030051 [2]中北大学山西省先进制造技术重点实验室,太原030051

出　　处：《舰船电子工程》2025年第3期217-221,共5页Ship Electronic Engineering

摘　　要：软体机器人柔顺性高,适应性强,被广泛应用于医疗、生物、工业和可穿戴设备等领域。仿植物尖端生长机器人是一种新型软体机器人,其原理是依靠尖端外翻实现前进,目前的研究大都依靠气压驱动。流体介质中的液体和气体清洁无污染、易于获得且成本低,但是气体重量轻导致承载力有限,而液体驱动相对于气体驱动能产生更大的承载力,因此论文将注射泵作为系统的动力源,将水作为介质,设计了一种注射泵水源驱动系统,可用于仿植物生长机器人的驱动。开发了压力、流量PID双闭环控制系统,可以对机器人的驱动力和运动速度进行调控。系统中设置两台注射泵,一台注射泵主要用于提供流量;另一台注射泵作为压力调节器对系统水压进行微调。STM32单片机作为系统的控制核心,采集水压和水流量数据,并将其作为反馈控制注射泵系统的运行。Matlab接收单片机采集的数据并实时绘制,便于观测。Soft robots are highly flexible and adaptable,and are widely used in medical,biological,industrial and wearable devices.The plant-like tip-growing robot is a new type of soft-bodied robot,which relies on tip-out to achieve advancement,and most of the current research relies on pneumatic pressure actuation.Liquids and gases in the fluid medium are clean and non-pollut-ing,easy to obtain and low cost,but the light weight of the gas leads to limited carrying capacity,while the liquid drive can produce a greater carrying capacity compared to the gas drive,so in this paper,the syringe pump is used as the power source of the system,and water is used as the medium,and a syringe pump water drive system is designed,which can be used for the drive of the imita-tion of the plant growth robot.A pressure and flow PID dual closed-loop control system is developed,which can regulate the driving force and motion speed of the robot.Two syringe pumps are set up in the system,one syringe pump is mainly used to provide flow,the other syringe pump acts as a pressure regulator to fine-tune the system water pressure.The STM32 microcontroller is used as the control core of the system to collect water pressure and water flow rate data and use it as feedback to control the operation of the sy-ringe pump system.Matlab receives the data collected by the microcontroller and plots it in real time for easy observation.

关 键 词：仿植物生长机器人 注射泵 液压驱动 PID控制 压力传感器 流量传感器 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]