重庆理工大学学报2024，Vol.38Issue(17)：128-134,7.DOI:10.3969/j.issn.1674-8425(z).2024.09.016
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
摘要
Abstract
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Key words
magnetic gallium based liquid metal/fluid drive/change the center of gravity/wheeled robot/motion analysis分类
信息技术与安全科学引用本文复制引用
韩锡镇,袁锐波,宋东明,覃学巨,梁松炜,李滔..磁性液态金属驱动微型轮式机器人设计与运动研究[J].重庆理工大学学报,2024,38(17):128-134,7.基金项目
云南省重大科技专项计划资助项目(202202AC080008) （202202AC080008）
