The Characteristics Research And Simulation Of Faux Lizard Robot Walking On The Water

The basilisk lizard is a kind of amphibian relying on its own quality, hind limbmovement, sole shape, walking speed and other factors to realize the walk on water.Domestic and foreign researchers are very interested in this animal having the specificfunction of floating on the water. The faux lizard robot’s foot can form air cavity and theforce when the foot slap on the water. The robot can float and quickly walk relying on theforce greater than its own weight. The robot can be widely used in military reconnaissance,detection of water quality, etc. Based on the analysis of the lizard’s moving mechanism, themodel of single leg’s driving institutions and the robot are built. The moving simulation, theanalysis of foot shape based on panel method, the fluid simulation based on CFD areresearched. And some innovative results are achieved.1. Based on the analysis of the lizard’s moving mechanism, the model of single leg’sdriving institutions is built. Based on the moving analysis of the driving institutions, thetrajectory, velocity curve and displacement curve are researched and provide data forprototype manufacture. The robot’s four driving legs can slap, flap and recover driven bytwo motors. To ensure the balance of force and prevent the rollover, the four driving legsmust cooperate. The front left leg and right after leg move together. The front right leg andleft after leg move together.2. The foot shape is one of the factors that affect the moving characteristics in water.Based on the hydraulics model of foot built by panel method, the velocity distribution andpressure coefficient distribution of foot in different shape are researched. To improve theload capacity of robot, the shape of foot producing greater lift were designed.3. Based on dynamic mesh technique of fluent, the process of foot’s slapping,fluttering and recovery was analyzed. The relationship between formation of air cavity andfoot’s size, shape and velocity was researched. The characteristics of different drivingmechanism paddling in water were analyzed. The effect of changes in foot’s stance on aircavity was analyzed. The better driving mechanism, minimum movement speed, the foot’sshape and size were determined.