柔性水下悬停机器人的液气相变驱动及制造

张鸿健; 韩捷; 蒋维涛; 牛东; 刘红忠

doi:10.7652/xjtuxb202102002

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柔性水下悬停机器人的液气相变驱动及制造

更新时间：2025-07-09

- 柔性水下悬停机器人的液气相变驱动及制造
- Liquid-Gas Phase Change Driving and Manufacturing of Flexible Underwater Hovering Robot
- 西安交通大学学报 2021年55卷第2期页码：10-17
- 作者机构：
  
  西安交通大学机械工程学院,西安,710049
- 作者简介：
- 基金信息：
  
  : 2020-07-16。作者简介: 张鸿健(1996—),男,硕士生,蒋维涛(通信作者),男,教授。基金项目: 国家自然科学基金资助项目(51625504,51827805,51675421)
- DOI：10.7652/xjtuxb202102002
  中图分类号： TP242.3;TP242.6
- 网络首发：2021-02-10，
  
  纸质出版：2021
- 稿件说明：
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张鸿健, 韩捷, 蒋维涛, 等. 柔性水下悬停机器人的液气相变驱动及制造[J]. 西安交通大学学报, 2021,55(2):10-17.

Liquid-Gas Phase Change Driving and Manufacturing of Flexible Underwater Hovering Robot[J]. 2021, 55(2): 10-17.
张鸿健, 韩捷, 蒋维涛, 等. 柔性水下悬停机器人的液气相变驱动及制造[J]. 西安交通大学学报, 2021,55(2):10-17. DOI： 10.7652/xjtuxb202102002.

Liquid-Gas Phase Change Driving and Manufacturing of Flexible Underwater Hovering Robot[J]. 2021, 55(2): 10-17. DOI： 10.7652/xjtuxb202102002.

摘要

为解决传统水下机器人功耗大、噪声大、机电特征易被探测的缺点

受河鲀应激防御时体型变化的启发

设计并制造了一种基于液气相变驱动的柔性水下悬停机器人(简称悬停机器人)。机器人基体由柔性硅橡胶材料制成

内部预设一腔体

腔体内封装低沸点驱动液体(3M

Novec

7000

沸点35 ℃)

通过加热驱动液体使其发生液气相变

作用在内腔壁面上的饱和蒸气压使悬停机器人的体积发生变化从而改变悬停机器人的浮力; 通过控制驱动温度实现悬停机器人的上浮下潜运动与定深悬停。实验表明:悬停机器人在自封装15 mL驱动液体时的驱动温度范围为50～100 ℃

最大可提供约为自重1.95倍的浮力; 在驱动温度为53 ℃时

可实现定深悬停; 在驱动温度范围内

浮力测量值误差小于5%。基于液气相变驱动的柔性水下悬停机器人回避了传统的机电驱动传动

自带工质

尺寸小质量轻

适合水下复杂环境作业; 工作功耗小

驱动过程无噪声。

Abstract

The ocean contains abundant resources

and the world has a major demand for the development of ocean resources. Underwater robots are an important tool to realize the development of marine resources. To solve the disadvantages of the traditional underwater robots

such as high power consumption

high noise

and easy detection of electromechanical characters

inspired by the body shape changes during the stress defense of the puffer

a flexible underwater hovering robot based on liquid-gas phase change driving(hovering robot for short)is designed and manufactured. The base is made of flexible silicone rubber material

and one internal cavity is preset

in which encloses a low-b

oiling-point driving liquid(3M

Novec

7000

boiling point 35 ℃)is enclosed. Heating the driving liquid causes the liquid-gas phase change

and the saturated vapor pressure acting on the inner cavity wall surface causes volume change of the hovering robot to change its buoyancy. By controlling the driving temperature

the hovering robot dives up and down or stays in fixed depth hovering. Experiments show that the driving temperature is ranged within 50-100 ℃ as the hovering robot contains 15 mL of self-encapsulating driving liquid

and a maximum buoyancy of about 1.95 times than its own weight can be achieved; when the driving temperature is 53 ℃

it can hover at fixed depth; within the driving temperature range

the buoyancy measurement error is less than 5%. The flexible underwater hovering robot driven by liquid-gas phase change avoids the traditional electromechanical drive transmission. It has its own working medium

small size and light weight.

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