Modeling And Kinematics Research On Water Strider Robot

The water strider is a hemipterous insect living on the water, it can stay, slide and jump onthe water relying on the surface tension. The water strider has great value that is developed byimitating and learning from the structure and movement of the water strider and that cansubstitute for human beings to work in harsh environment.Because of the tension-type waterstrider robot whose load capacity is too small, it is difficult to carry tools to complete remotedetection. The paper makes researches on the water strider robot based on buoyancy, which isdriven by servo motor, micro servos. Main research contents are as follows:1. Build the model of miniature water strider robot driven by motor, build driving structurewhich are used by a crank rocker mechanism, a parallelogram mechanism to complete themovement of entering into the water, forward, up-lifting and backward just as the middle legs ofthe water strider, so as to make the robot move forward. Then establish the relational expressionbetween the kinematics and dynamics of robot’s driving mechanism. At last do the simulatinganalysis of the robot’s kinematics with Adams.2.Make study on main parameters which affect the watering performance such as shape andsize with Fluent. Update the flowing area with dynamic mesh and do the prediction of thevelocity and force around the rowing leg.Make an optimal choice whose legs are drived byhigher forces and have higher rowing efficiency so as to improve the velocity and efficiency ofthe water strider robot moving on the water.3.Make simulating study on water strider robot’s moving characteristics. Develop theplatform based on ADAMS and MATLAB to predict the speed moving on the water accuratelyin different motor’s speed, which provides theoretical basis for designing the water strider robotwhich has a better moving performance.4. Following above study, develop the prototype of water strider robot.Then study therobot’s moving speed on the surface of the water under laboratory conditions in different motorspeed and in different paddling leg. Verify the theoretical analysis by comparing with the resultsof simulation.