Basic Technology Research Of Water Strider Type On Water Walking Robot

Water strider can stay in the water environment, activities, rowing or even good jump function, has aroused keen interest in the study. Water strider robot have high energy efficiency, good mobility, a small disturbance on the environment and low noise make it in the environmental monitoring, disaster relief, military surveillance and detection of underground pipe network and many other areas have a wide range of uses. Therefore, water strider robot simulation study has important theoretical and practical value. This article is based on the buoyant force type water strider robot developed by Hebei University of Technology and the tensile force water strider robot developed Hebei University of Technology, to continue to study, so research in this paper for the water strider robot type ?. Because the surface tension of water use imitation load capacity of small water strider robot, remote operation is not convenient to carry tools to complete the task, so this study a micro-motor-driven floating water strider robot. This mainly includes the following:1. Based on the results of research of biological water striders, use the modeling software Pro/E established five water strider robot imitation of the water bodies of the motor-driven programs, through analysis and comparison of kinematic properties, chose a motor-driven strokes mimic the action of water strider robot structure programs which can meet the issues selected depth study of the program requirements,. Micro-motor work as a driver of sustainable and lower energy consumption for a long time, the robot mimic the movement patterns of biological water striders use of support the four legs in the water, about two legs to complete the water movement.2. Establishment of water strider robot kinematics simulation model, multiple sets of parameters by substitution method of drawing comparisons to determine the water body size of the water leg to achieve the trajectory, and application of theoretical operations through the multi-body dynamics simulation analysis simulation software ADAMS study the parameters of the size and trajectory of the robot kinematics. Establishment of the robot dynamics model, as the water strider robot simulation provides a theoretical basis for further development.3. Use element analysis software ANSYS, analysis water strider robot imitation machine and key components for static analysis and found that the weak links in the robot structure, suggestions for improvement. Use element analysis software ANSYS modal analysis module, extract the water strider robot top ten step mode maps and displacement maps modal analysis studies to determine to avoid the frequency of the external excitation is proposed to improve the weak links.