Basic Research On Robot Walking On Water Surface Based On Bionic Principle

Nowadays, the research on bionic robot is an advanced subject in robot field. The future developing direction of bionic robot is to manufacture a robot which can work on adverse circumstances instead of man in simulation to excellent functions of biology on diversified given conditions. The research on robot walking on water surface is developing a novel bionic based on the basic principle that water strider can walk on water surface. The scholars at home and abroad have made some researches on robot walking on water surface, but the research is now rest on the stage of laboratory research. In order to realize the aim that the robot can fulfil tasks on far-water surface independently, many researches, innovation, experimentation on robot should be done. The research on robot walking on water surface has important throretical significance and application value.This paper makes in-depths research aiming at the walking function of the water strider and put forwards a novel robot walking on water surface. So the mainly content is as following:The research on the walking function of water strider is done in this paper, especially on floating fashion and motion mechanism.Based on the principle of functional bionics, driving modes, driving mechanism and the overall mechanism of robot have been designed and studied. Based on the slider-crank mechanism and the principle of parallel mechanism, the parallel mechanism of the single leg, which is driven by electromagnetes, is designed. And the overall mechanism of the robot with six legs is designed in simulation to the structure of water strider.Based on the virtual prototype technology, the modeling and the motion simulation on the driving mechanism and the overall mechanism of the robot have been done. And the rationality of the mechanism and the correctness of the realization of function have been checked up.Based on the especial working environment of the robot, researches on material, mechanism technique, driving technique and controlling technique have been done, and the prototype of the robot is designed and manufactured. And the experimentation study of the robot in laboratory environment has been done. The result of the experimentation shows that the robot designed in this paper can realize the function walking on water surface.