Research On Self-driven Rolling Robot Based On Chemical Reaction

Robots have various driving methods.Rolling robot occupies an important position in some application fields of robot because of its advantages such as good compactness and strong adaptability to terrain and environment.The existing rolling robot is driven by an external power source or air source,which limits the motion scene and the moving range.In this article,the main research and achievements are as follows:(1)A chemical reaction self-driven rolling robot is designed and produced based on the principle of self-driven rolling.The gas generated by the chemical reaction pushes the reaction liquid to circulate in multiple cavities of the robot,changing the center of gravity of the robot to achieve rolling.(2)The parameters and conditions of the self-driven rolling robot are analyzed.The relationship between the lowest liquid level line,the hightest liquid level line and the opening and closing angle of the gravity valve is obtained,and the robot torque is analyzed according to the liquid level,and the kinematics analysis is carried out based on the robot structure and reaction principle,The kinetic analysis was performed using the Lagrange mechanics.(3)The key component of the rolling robot is the gravity valve.The robot uses the gravity valve to periodically open and close at different angles to control the airflow.Three gravity valves with different structures have been designed and manufactured,and a set of gravity valve testing devices has been produced to measure the flow rate of gravity valves at different angles.(4)The characteristics of the three types of gravity valves were obtained through model analysis,Abaqus FEA and testing.(5)Rolling robot was made by 3D printing.The maximum rolling speed is about 2°/s,which verifies the feasibility of this kind of chemical reaction self-driving rolling robot,and provides a new idea for the application of chemical reaction self-driving in the field of robots.