舰船电子工程2025，Vol.45Issue(3)：217-221,5.DOI:10.3969/j.issn.1672-9730.2025.03.044
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
黄鹏 1高晋阳 1田思雨 1马欣瑜 1马子毓1
作者信息
- 1. 中北大学动态测试技术国家重点实验室 太原 030051||中北大学山西省先进制造技术重点实验室 太原 030051
- 折叠
摘要
Abstract
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Key words
plant-mimicking growth robots/syringe pumps/hydraulic drive/PID control/pressure sensor/flow sensor分类
信息技术与安全科学引用本文复制引用
黄鹏,高晋阳,田思雨,马欣瑜,马子毓..用于仿植物生长机器人的压力、流量双闭环液驱系统[J].舰船电子工程,2025,45(3):217-221,5.
