Research On Stroking Hydrodynamics Modeling And Experiment Of Bionic Water Strider Robot

The research of bionic water strider robot can not only expand the robot’s working space from the known structure space to the unknown space, but also promote the progress of basic science in the relevant fields,such as the mechanism innovation of the micro-robot, the interfacial fluid mechanics,the research and development of superhydrophobic materials and so on. Although the study of bionic water strider robots is still in the laboratory stage currently,we can expect their broad application prospect in the long run in the area of military reconnaissance, disaster relief, environmental monitoring in the water as well as complex pipeline monitoring and repair. This is due to the bionic water strider’s unique advantages such as simple structure,high performance of concealment,high mobility,low energy consumption, easy remote control etc.There are two main research directions for the field of bionic water strider robots:The research of the superhydrophobic mechanism based on the water strider leg’s micro-nano seta structure and research of water walking robot based on water strider’s stroking movement.At present, domestic and foreign researchers have made significant progress in the prototype development and improvement, but the research of the force analysis for the water strider is still concentrated in the static analysis phase for the supporting leg.The paper builds dynamic model for the water strider’s stroking movement,make theory analysis of the reaction propulsive force for the acting leg and the the floating stability on the surface, then verify the validity of the theory aforementioned from the finite element simulation and prototype experiment,respectively.First of all, the paper builds dynamics modeling for the stroke movement of water strider’s acting leg base on the interfacial fluid mechanics and the Momentum Theory, analyze the propulsion force of water strider’s leg when stroking the water with a certain angular velocity and the impulse of the water strider’s trunk in a stroking cycle.Secondly,the paper analyzes the floating stability of the water strider’s acting leg,list the two critical conditions of the acting leg to sink in the water.Then the paper compares the floating stability for several different cross-section shape of the acting legs. In addition, considering the elastic deformation of materials, the paper discusses the impact of the acting leg’s radius, length and material hydrophobic on the supporting stability.Thirdly, based on the previous modeling and theoretical analysis for the force of the driving leg, the paper use the ADAMS virtual prototyping technology to perform the dynamics simulation,in which the simulation results verify the validity of the dynamic modeling and theory analysis aforementioned.Apart from this,the paper makes the stability analysis for the prototype based on the mass-spring damper model, in which the result show that the prototype has sufficient stability margin against outside interference.Finally, the paper develops new biontic water strider robot prototype based on the stroking mechanism of biological water striders, then makes the static support experiments and the stroking performance experiments.The experiment results are consistent with the theoretical analysis based on our self-built dynamic modeling.