Liquid metal electro-driven trolley and its motion control method

Abstract

The invention relates to a liquid metal electro-driven trolley, which includes a vehicle frame, an accommodation part, a first power supply and a second power supply, the accommodation part is installed at the bottom of the vehicle frame, and the vehicle frame is equipped with a first electrode, a second electrode, Three electrodes and the fourth electrode, the first electrode and the third electrode are respectively connected with the positive pole of the first power supply and the negative pole of the first power supply, and the second electrode and the fourth electrode are respectively connected with the positive pole of the second power supply and the negative pole of the second power supply connected. The invention also relates to a motion control method applied to a trolley driven by a liquid metal electric drive. The invention greatly reduces the power consumption of the trolley; prevents the liquid metal from slipping out from the bottom of the trolley; fully utilizes the buoyancy of the base solution on the trolley and adopts coordinate system conversion to reduce the impact of frictional resistance and external disturbance on the movement of the trolley; Obstacle avoidance during movement; the precise positioning of the car position is realized; the precise free movement of the liquid metal car in the two-dimensional plane is realized by means of the PID control algorithm.

Description

technical field [0001] The invention relates to a liquid metal electro-driven trolley and a motion control method thereof. Background technique [0002] Liquid metals are metals that are in a liquid state at room temperature. Liquid metals can play an important role in soft robots, pumps, micro-pipes, 3D printing and other fields. Liquid metals will move to the positive pole of the power supply under external conditions of applied voltage. Using this movement characteristic of liquid metals, we can make them For transportation etc. At present, there are still limitations in the research on liquid metal trolleys: (1) In the direction of motion, the existing liquid metal trolleys can only achieve simple one-dimensional motion in one direction, and have not tried to move freely in the X-Y plane, and there are existing The car can only observe its movement and the factors that affect the speed of movement, and has not found a method that can accurately control the movement. At...

AI Technical Summary

Problems solved by technology

At present, there are still limitations in the research on liquid metal trolleys: (1) In the direction of motion, the existing liquid metal trolleys can only achieve simple one-dimensional movement in one direction, but have not tried to move freely in the X-Y plane, and there are existing The car can only observe its movement and the factors that affect the speed of movement, and has not found a method that can accurately control the movement. At the same time, the design of the external electrode makes a large part of the energy loss in the environmental solution; (2) the existing car structure There are deficiencies in the above design, the car is easy to contact with the outside world to generate frictional resistance, and at the same time, the liquid metal is easy to slip out of the car

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