Fundamental Technology Research Of Faux Lizard Water Fast Motion Robot

Basilisk lizards rely on their own interaction and coordination of the body mass,characteristic, running speed, and, shape of the foot, which makes them walk freely over thewater.This paper is aimed at designing a faux lizard water fast motion robot mainly via themovement mechanism imitation of lizards to walk on the water surface quickly, building aone-leg driving theoretical model and corresponding imitation model,then doing some analysesand researches on them,establishing Computational Fluid Dynamics theoretical model of robotpaw, then doing some analyses and researches on it,constructing3-D model of robot and doingsome imitation analyses.The main contents are as follows:1. Based on researches on lizards water motion properties, the paper proposes a new fauxlizard water fast motion robot leg crank-rocker four drive mechanism which is used to get biggerlifting forces with less energy and establishes mathematical model of one-leg drivingmechanism,then do some kinematic analyses and researches on it,.The paper also studies howto make the pace of the robot closest to the lizard moving trajectory.2. Taking into account the faux lizard water fast motion robot of the water of the surfaceenvironment work characteristics, this paper studies the interaction between water and solid feetwhen robot moves quickly on the surface of the water which is based on Computational FluidDynamics theory,and combining fluid dynamics analysis software, establishes ComputationalFluid Dynamics theoretical model of the robot’s feet and applies moving grid theory to analysesand researches of hydraulics which works out the lifting force and time of paws moving on thewater and which lays the theoratical foundation for structural design and control of robot.3. Based on the features of faux lizard water fast motion robot prototype, the paper presents theimitation of lizards water fast movement robot overall design Taking into account the faux lizardwater fast motion robot surface of the water movement swing stability, the paper proposes therobots with a balancing mechanism to approximate inverted pendulum robot to maintain abalance in the running process. The paper builds robot virtual prototype simulation model, andexecutes its kinematics simulation analysis,and verifies its mechanism design rationality.