Research On The Modeling And Property Of Water Strider-like Robot

Water strider is a kind of insect that can stay on the water with the help of surface tension.It can quickly forward, turn and jump, and interference on the water surface is very small. Water strider-like robots can not only carry out hydrological monitoring of the waters, military detection, but also to enter the pipeline and other narrow space for a variety of detection. The range of applications on water strider-like robot is very wide.In this paper, design ideas about the water strider-like robot is proposed according to the structure and movement characteristics of the water strider insect. The structure and motion characteristics of water strider are analyzed. The water infiltration model of superhydrophobic cylinder is studied by Young's equation. The deformation curve of water column is calculated.Robot bearing capacity is poor, less than the requirements of carrying monitoring equipment.According to the characteristics of water strider,a new water-driv:ing mechanism is proposed, which uses the two servo motors to drive the water-drawing board to carry out the process. The mechanism can be well reconstructed the process of water strider. According to the water strider in the water slide using the movement of the legs balance their own attitude, put forward a new type of attitude transformation mechanism, the use of force - angle stability margin analysis of the stability of the robot to verify the idea.Using the knowledge of hydrodynamics, we can model the stroke of the robot. Considering the initial speed of the robot will produce extra resistance to the water board, the shape of the water board is improved. After the experimental results, this improvement is feasible. The CFD simulation software (STAR-CCM+) was used to calculate the hydrodynamics of different supporting leg shapes (sphere, corn, elongated ellipsoid and fat ellipsoid), and the elongated ellipsoid with low water resistance was selected as the supporting leg, which increase the efficiency of the robot.On the basis of the above research, the robot prototype is made. The experimental results show that the robot has good flexibility, wave stability and high efficiency of water drawing for the robot before analysis and research of the correctness of the robot.The results of this paper show that the design, modeling and simulation of the water strider-like robot are feasible and effective, and the whole motion of the robot is very efficient.After the calculation of the wave angle, the robot's attitude transformation device can effectively increase the stability of the robot.The research contents and achievements of this paper provide guidance for the development of such surface robots, and provide important theoretical basis for improving the forward efficiency and increasing the stability of the surface robot.