Research On Key Technology Of Soft Frog-inspired Jumping Robot Based On Combustion And Explosion Drive

Most of the current frog-like jumping robots are driven by motors or pneumatic muscles.This driving method determines the size and weight of the robot,and the structure of the robot is relatively complicated.Therefore,it is difficult to realize the flexible jumping ability of the frog-like robot..With the rapid development of chemical fuel explosion drive technology,the energy supply mode of robots has become more compact,clean and convenient.Therefore,a software-like frog robot with a miniaturization and even close to the size of a bio-frog has been developed.It is feasible,combined with the softness,light weight,strong adaptability of the soft material and the high energy density and high explosive force of the chemical blasting drive.The explosion-driven software-like frog jumping robot helps to realize the frog jumping.The compact structure of the robot,the miniaturization of the volume and the light weight of the robot are conducive to the flexible jumping of the frog robot.First,the airborne gas explosion generating device was studied.The airborne blasting gas generating device is a highly integrated small gas generating device for mixing the fuel of the blasting robot and the oxidant gas.According to the law of hydrogen evolution of metal hydride aluminum hydride during heating and the oxygen release law of potassium permanganate during heating,a miniaturized on-board thermal decomposition device for the solid powder of aluminum hydride and potassium permanganate was designed.It is integrated into the onboard combustion gas generation device.The airborne blasting gas generating device additionally includes an air supply gas path system for controlling the volume and ratio of hydrogen and oxygen output to the soft blasting cavity.Secondly,an ignition system for the blasting robot is designed.The ignition system is used to point the mixture of fuel and combustion improver,and is one of the important components of the explosion-proof robot.This paper designs a miniaturized,high-efficiency,low-latency ignition system that can quickly ignite the mixed gas and accurately control the time of the explosion.It is compact,small in size and light in weight,effectively reducing the robot itself.weight.In addition,it is also possible to control multiple ignition head ignitions at the same time,which can meet the requirements of multi-cavity blasting robots.Finally,the various technical reserves in the early stage were combined with the relevant structural parameters of the software-like frog robot to develop a software-like frog robot blasting drive unit.The blasting drive has the characteristics of high energy density and strong explosiveness,and combines the performance of the soft material to design a reasonable structure of the soft blasting drive unit.And carry out experimental analysis to verify the rationality of the design.