【作者】 伍健；

【导师】 张世武； 杨杰；

【作者基本信息】 中国科学技术大学 ， 精密仪器及机械， 2019， 硕士

【摘要】 镓基液态金属可以通过电场、磁场、化学以及光学等诸多方式来产生液态金属的运动,可以作为新型智能驱动材料,展现了其构建机构灵活的移动机器人的潜力。然而,目前液态金属应用于机器人领域的研究尚处于初级阶段,且将液态金属作为驱动组件的机器人系统只能在溶液环境中使用,这限制了液态金属作为驱动器核心的集成能力,也限制了其形成更复杂的功能机器人系统。在本文中,我们设计了一款由EGaIn液态金属驱动的轮式滚动机器人,巧妙地将高效液态金属驱动和变重心机构相结合,使其为能够在液体环境之外运动的功能机器人。本设计轮式滚动机器人使用EGaIn液态金属液滴作为驱动系统的核心,具有超疏水表面的极轻半封闭轮式结构作为机器人的外部轮体,微型电极能够随液态金属运动且能够持续为其提供电场。液态金属液滴的在电场下的受控运动会持续改变机器人的重心,从而产生滚动扭矩并以稳定的速度引起机器人的连续滚动。我们通过一系列实验探究轮式机器人的运动性能和能量特征,实验显示机器人能够在快速的启动后达到稳定滚动,其最大角速度可以达到2.5 rad s-1。此外,我们通过建立机器人的拉格朗日动力学方程,并使用MATLAB软件和ADAMS软件来进行动力学仿真,结合实验结果,我们可以清晰了解轮式机器人的驱动机制并解释其的运动形式。最后,我们设计了一个自供电的轮式机器人系统,其带有一个微型锂电池作为电源,实验显示该机器人能够以高达1.8 rad s-1的角速度在平坦平台上滚动。本研究很好的结合了液态金属以及滚动机器人的研究,扩展了基于液态金属的驱动器的研究,将有助于实现未来复杂的具有实际用途的基于液态金属的机器人系统。更多还原

【Abstract】 Gallium-based liquid metals can generate liquid metal movements through electric,magnetic,chemical,and optical methods.They can be used as new intelligent driving materials to demonstrate the potential of mobile robots with flexible construction mechanisms.However,the current research on the application of liquid metal in the field of robotics is still in its infancy,and the robotic system using liquid metal as the drive component can only be used in a solution environment,which limits the integration ability of liquid metal as the core of the driver and limits its Form a more complex functional robot system.In this article,we design a wheeled rolling robot driven by EGaIn liquid metal,which combines a highly efficient liquid metal actuation with a variable center of gravity mechanism to make it a functional robot that can move outside the liquid environment.This design wheeled rolling robot uses EGaIn liquid metal droplets as the core of the actuation system.The extremely light semi-closed wheel structure with super-hydrophobic surface acts as the outer wheel body of the robot.The micro-electrode can move with liquid metal and can continue to provide it electric field.The controlled movement of the liquid metal droplets under the electric field will continue to change the center of gravity of the robot,producing rolling torque and causing continuous rolling of the robot at a steady rate.Through a series of experiments,we explored the motion performance and energy characteristics of wheeled robots.Experiments show that the robot can achieve stable rolling after a quick start,and its maximum angular velocity can reach 2.5 rad s-1.In addition,we establish the Lagrangian dynamic equation of the robot and use MATLAB software and ADAMS software to carry out the dynamic simulation.Combined with the experimental results,we can clearly understand the driving mechanism of the wheeled robot and explain its motion form.Finally,we design a self-powered wheeled robotic system with a miniature lithium battery as the power source,and the experiment shows that the robot can roll on a flat platform at an angular velocity of up to 1.8 rad s-1.This study combines the research of liquid metal and rolling robots,and expands the research of liquid metal-based actuators,which will help to realize complex and practical liquid metal-based robot systems in the future.更多还原