Performance Analysis and Research of Soft-Body Cavity Type Detonation Drivers

Abstract

To study the high-energy-density movement characteristics of animals during jumping, a soft-body cavity-type detonation driver that combines the explosive chemical reaction mechanism of hydrogen and oxygen was designed. To precisely control the output of the detonation driver to achieve optimization during robot jumping, the factors affecting the performance were studied and analysed. First, the detonation-dynamic equation of motion is deduced using the law of kinetic energy conservation, and the mathematical model of the performance parameters of the detonation driver is obtained. Then, combined with the theoretical values of the mathematical model of the performance parameters and the experimental data, the influence of the mixing ratio of hydrogen (H₂) and oxygen (O₂), the volume of hydrogen and oxygen mixed in the cavity, and the shape, wall thickness, and upper and lower area ratio of the soft-body cavity on the output performance of the detonation driver are analysed. The soft-body cavity is in the shape of a ladder column, and the mixing ratio is 2:1, which can make the output performance of the detonation driver the best. Moreover, the output performance is approximately proportional to the volume of mixed gas filled into the cavity. When the gas volume is (20:10) ml, the jump height reaches 2.5 m. At the same time, the cavity upper and lower area ratio is optimized to 2:1, which can improve the output performance by 21.6% on average. The above research results can provide data and reference for the precise control and maximum performance output of the bionic hopping robot based on the soft-body cavity type detonation driver as the driving unit.

Keywords: Detonation drive, Soft-body cavity, Jump performance output, Detonation dynamics