水压人工肌肉驱动喷水矢量推进系统设计与试验

传统喷水矢量推进系统的驱动器存在密封困难、易腐蚀、使用寿命短、结构复杂等问题。为了解决这些问题,开发了水压人工肌肉驱动的喷水矢量推进系统。基于水压人工肌肉调节关节转角的驱动方式,对二自由度喷水矢量推进系统进行设计,并建立水压人工肌肉工作压力与喷嘴偏转角度的对应关系,先后进行了喷嘴矢量调节试验和水下自航试验。喷嘴矢量调节试验结果显示,当人工肌肉压差分别为0.310,0.614,0.898,1.158,1.386,1.584 MPa时,喷嘴实际偏转角度为13.56°,21.66°,33.24°,44.21°,52.80°,56.88°,试验结果与理论计算结果平均偏差为10.8%。水下自航试验表明,水压人工肌肉作为驱动器不仅能够满足喷嘴偏角矢量调节的要求,同时能够实现喷水矢量推进机器人的矢量运动,为研发能耗低、结构紧密的水下智能装备提供了新的思路。

Design and Experiment of Water Jet Vector Propulsion System Driven by Hydraulic Artificial Muscle

The drives of traditional water jet vector propulsion systems have problems such as difficult sealing, easy corrosion, short service life, and complex structure. In order to solve a series of problems existing in traditional drives, a water-jet vector propulsion system driven by hydraulic artificial muscles was developed. Based on the driving mode of hydraulic artificial muscles to adjust the joint angle, a two-degree-of-freedom water-jet vector propulsion system was designed, and the corresponding relationship between the working pressure of hydraulic artificial muscles and the deflection angle of the nozzle was established. The nozzle vector adjustment test and the underwater self-propulsion test were carried out successively. The nozzle vector adjustment test results show that when the artificial muscle pressure difference is 0.310, 0.614, 0.898, 1.158, 1.386, 1.584 MPa, the actual deflection angle of the nozzle is 13.56°, 21.66°, 33.24°, 44.21°, 52.80°, 56.88°, the average deviation between the experimental results and the theoretical calculation results are 10.8%. The underwater self-propulsion test shows that the hydraulic artificial muscle as the driver can not only meet the requirements of the nozzle declination vector adjustment-, but also realize the vector motion of the water-jet vector propulsion robot. It provides a new idea for the development of underwater intelligent equipment with low energy consumption and compact structure.