磁性液态金属驱动微型轮式机器人设计与运动研究OA北大核心CSTPCD

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.