Research On Characteristics Of Micro-Peristaltic Pump Based On Stepper Motor

As a new type of robot,software crawling robot has the ability to adapt to the environment.However,the current software actuators are mainly in the form of valve control,which is low in efficiency and small in load.This article uses a peristaltic pump to directly drive the software actuator form,reducing the use of the valve and enhancing the load capacity of the software actuator.The main purpose of this paper is to study the re-pressure flow characteristics,power consumption characteristics and dynamic characteristics of peristaltic pumps.In this paper,for the peristaltic pump,the Yeoh solid hyperelasticity threedimensional model of the peristaltic pump was established by using ABAQUS software.A method of extracting and fitting the Yeoh material parameters through tensile test and compaction experiment was proposed,and the torque of the peristaltic pump was adopted.The experiment verified the accuracy of the model.In order to further explore the pressure flow characteristics,three kinds of flow calculation methods based on peristaltic pump geometric simplification calculation method,two-dimensional fluid-solid coupling and three-dimensional fluid-solid coupling were established,and the advantages and disadvantages of the three models were compared.Through the construction of the pressure flow experimental platform,the pressure flow curve of the peristaltic pump was measured,and the simulation results were compared to demonstrate the accuracy of the simulated model.Combined with two-dimensional fluid-solid coupling and threedimensional solid model,the optimal matching of the micro-peristaltic pump bending degree and the number of rollers is analyzed,and the simulation comparison of different rotating radius,material and feed is carried out,and the optimal efficiency creep is analyzed.Pump structure.Through the radial extrusion simulation of ABAQUS peristaltic pump,the cross-sectional shape combination of pump tube,roller and outer casing was changed.The advantages and disadvantages of different shape combinations of peristaltic pump were compared,and the lowest energy consumption combination of peristaltic pump shape was proposed.Finally,the control model of stepper motor,peristaltic pump and actuator is established.The control method of pressure feedback is proposed for the control model.The dynamic characteristics of the typical structure described in this paper are compared.