Research On A Pulsed-Type Bio-mimetic Power System Based On Monopropellant

Hydrogen peroxide?H₂O₂?has special characteristics suitable for power system of robots such as high power and energy density,stable and non-toxic properties.Furthermore,chemical energy can be directly transformed into mechanical energy during H₂O₂ catalytic decomposition process.So H₂O₂ possesses significant advantages in solving power autonomous,light,portable,long endurance,and environmental friendly of power system in exoskeleton robots.This article aims at applying H₂O₂ to the power/driving system of exoskeleton robots by imitating internal structure and pulse ejecting mechanism of the bombardier beetles.And a new bio-driving system was proposed to impelling the exoskeleton robots in practice.In the paper,firstly,we imitated pulse ejecting mechanism of the bombardier beetles and designed a two-stage pressure system based on check valve,then finished the components selection and structure design,which help to decrease the throttling losses and improve the H₂O₂ decomposition efficiency in the meantime.Secondly,we established dynamic model of the two-stage pressure system based on continuous medium hypothesis and energy balance equation,and pressure changes in the catalyst bed which is controlled by PWM signal was simulated by Simulink.Then a type of bio-driving system is designed according to laval nozzle specifically for the jet exoskeleton,and the inspiratory is also designed based on microfluidic networks for the optimization.The feedback control system is established by the simulation model.Finally,ejecting experiments had operated with H₂O₂ and the reaction rate is measured.Also ejecting force was recorded to be compared with the simulationThe research results can be applied to exoskeleton robots and extreme environments such as space,highland,and deep-sea,which suitable for the newly combat forces requirements of precision,miniature,lightweight and modular.