Driving Machanism And Experimental Research Of Micro-mini Wheeld Robot Based On Liquid Metal

With the advancement of technology and the development of society,robots are playing an increasingly important role in various fields of human society.Among them,mobile robots are widely used in many fields due to their advantages such as simple and compact structure and convenient control.Miniature wheeled robots are particularly suitable for the realization of functions in a spaceconstrained environment.However,due to the reduction in scale,traditional robot design methods may be limited under small-scale conditions,so it is urgent to develop a variety of micro-robots.Basic research work.The Continuous Electrowetting effect is a powerful micro-driving mechanism.When an electrical signal is applied to both ends of the gallium-based liquid metal placed in the alkaline solution,the liquid metal can move under the Continuous Electrowetting effect.Therefore,we proposed a new type of wheeled robot configuration that uses liquid metal as the driving component for the miniaturization of the wheeled robot,clarified its working mechanism,and verified the feasibility of the configuration by experiments.Firstly,the driving mechanism of the electric drive of liquid metal is explained by combining the Electric Double Layer theory and the liquid metal Continuous Electrowetting theory,and combining the Lippmann equation and the Young-Laplace equation to obtain the voltage of the gallium-based liquid metal in the sodium hydroxide electrolyte.The expression of the surface tension gradient at the time of signal,and analyzes its force during the movement.Secondly,combined with the simulation analysis,the COMSOL Multiphysics finite element simulation software is used to simulate the liquid metal electric drive,and the influence of voltage amplitude and other factors in the liquid metal electric drive is obtained,and the key in the structure of the wheeled robot is determined in conjunction with the experiment size.Then,the mechanical structure of the wheeled robot is designed and subjected to force analysis.The Lagrange method is used to establish the dynamic model.The MATLAB software is used to verify that the wheeled robot system designed can achieve stable motion.The influence of driving force and other factors on the motion of wheeled robot system is briefly analyzed.Finally,the virtual prototype of the wheeled robot system was established and simulated by using ADAMS simulation software.The influence of the liquid metal volume and driving force on the movement of the wheeled robot system was discussed,and its speed control performance was analyzed.The robot is physically tested and its feasibility is verified through experiments.The structure of the double-wheel object-mounted wheeled robot is also designed,which embodies the scalability and practicality of the wheeled robot designed this time.