Analysis And Research On Mechanism And Property Of The Water Strider Robot

Water strider is a kind of insect that has the active function of staying, sliding and leaping on water surface. Enlightened by this kind of insect, people become more and more interest on the water strider robot, which can move fast on the unstructured water surface. With the advantages such as high efficiency, good mobility, lower noise and little disturb to the environment, water strider robot will applies to military and civil area such as military reconnaissance, environmental monitoring and water examination. Therefore, the research of water strider robot has theoretical significance and practical value. Based on the bionic function principle, this paper proposed a kind of new floating type of water strider robot structure that has a certain load capacity, and carried on systematic analysis and research on several perspectives: the prototyped analysis of modeling, kinematics, and the hydraulics, virtual prototypical robot movement simulation and the model analysis, the rigid-flexible coupling driving system dynamics question the modeling and simulation, the prototypical manufacture and the design and experiment of the control system and so on. Therefore, certain innovative research results have been obtained.1. Based on the research of structure and motion characteristic of water strider, this paper proposed a new kind of water strider robot parallel driving mechanism, namely three degrees of freedom inputs parallel decoupling water movement of driving mechanism, established kinematics and dynamics model of the parallel driving mechanisms ,the balance conditions of rowing and the most optimization parameters comprehensive conditions of robot's driving mechanism, and thus provided the theory fundamentals for the final manufacture of the robot prototype.2. Considering the bionic original shape characteristics of bionic water stride robot, this paper proposed the structure design principle of water stride robot, established virtual prototype simulation model of the robot, analyzed the driving mechanism kinematics simulation, condition of every rotating side force and curve of the mechanism kinematics energy, verified rationality of mechanism design, pointed out weak links of structure design, and finally offered theoretical basis of the structure design and improvement of the robot.3. Considering bionic water stride robot's frequency of rowing and resonance problem, this paper studied simulation model characteristics of the robot, emphasized on robot's rowing legs, driving mechanism, the whole machine natural frequency and displacement and stress cloud pictureare, analyzed weakness of the fictitious prototype structure, pointed out working frequency that should be avoided, and therefore offered theoretical basis of structure design and control of the robot.4. Considering the characteristic that the bionic water strider robot is working on water surface, the paper researched the water effects on the action regularity of the robot and the relationship between the shape of rowing leg and the rowing performance. The paper also established the stability condition for the floating water strider robot, the flow field expression of the rowing leg, and the hydrodynamic expression of the driving mechanism and the rowing action of the robot. In the end, the theoretical basis of structure design and control of the dynamic expression of the water stride robot has been offered.5. Considering the small amplitude flexible vibration caused by the light and thin components in the drive system of the bionic water strider robot, this paper put forward that the drive system of the robot is regarded as a flexible driving system of a rigid-flexible coupling multi-body robot, established dynamic model of the rigid-flexible coupled driving system which considers the constraint function of the contact force with water. The results showed that the small amplitude flexible vibration of the rowing board would influence the motion trajectory of the rowing board. This research result will provide a theoretical foundation for the high speed motion controlling and the accurate operational path controlling of the robot in the future.6. Based on above theories,the paper developed a physical prototype of water strider robot, did experiments on the water strider robot while moving forward, turning and withstanding some load of work on the water surface under the circumstance of the laboratory. The experiments results verified the effectiveness of the three degrees freedom input of parallel decoupling rowing driving mechanism and the correctness of the theory analysis about water strider robot in this paper. At last, it appeared that the water stride robot in this paper has good velocity response characteristics, motion flexibility, high rowing efficiency and convenient control.