Research On Bionic Water Strider Walking Robot Based On Flexible Driving Legs

Water strider has the characteristics of low energy consumption,high efficiency,small damage to the water surface and low noise,which attract more and more scholars at home and abroad to carry out theoretical research and design a number of robots running on water surface imitating water strider.Biological research shows that when the biological water strider is drawn,the driving leg can adapt to the water surface to produce flexible deformation and effectively improve its movement performance and motion stability.However,the rigid driving leg is generally adopted in the current prototype,and the flexible characteristics of the driving leg are ignored,and the theoretical study of the deformation and stress of the flexible driving leg of the biological water strider is not reported.This paper is based on the National Natural Science Foundation "water surface skid complex motion robot imitating water strider and its hydrodynamic study",and studies the water surface rowing robot imitating water strider based on the flexible driving leg and its related fields.First,in view of the problem of rowin water deformation and stress related theory of flexible driving leg imitating water strider,based on the theory of microelement cantilever beam,the deformation and stress model of the flexible driving leg is set up,and the parameters of elastic modulus,geometry,water velocity and depth of water are analyzed and the force and deformation of the flexible driving leg are analyzed.And the influence of doing work.It provides a reference for subsequent flexible driving leg stroke experiment and imitating water strider robot design.Secondly,the experimental analysis of water driving stroke of flexible driving leg is carried out.Based on the lever principle,a flexible driving leg force measurement platform is set up to test the force of the flexible driving leg and verify the effectiveness of the model of the flexible driving leg.Through the experiment of different parameters of the flexible driving leg,the different materials,speed,depth and diameter of the driving leg are obtained.The influence of force and work.It provides experimental parameters for material selection and dimension design of bionic robot's driving leg.Thirdly,based on the mechanism of surface tension floating and sliding motion of biological water strider,the prototype of a flexible driving leg is designed to simulate the water surface of the water strider.Based on the swing limit pin structure,the trajectory of the leg space ellipse in the driving leg water is realized,and the robot is designed based on the multi slender cylinder parallel to the water surface model.The whole system is completed and the prototype is controlled based on PWM wave,which lays the foundation for subsequent experiments.Finally,the robot's load capacity and motion performance are tested by using the flexible driving leg imitating water strider robot.The water movement ability of the flexible driving leg of the robot is tested under different material s and diameters and frequencies.The limiting stroke frequency of the driving leg under the surface of the water,the corresponding straight line and the moving speed are obtained,and compared with the results of theoretical analysis and the experimental results of the driving leg,the contribution of the driving leg flexibility to the drawing process is verified.With the aid of both the bond number and the Weber number of dimensionless parameters to analyze the physical similarity of the surface tension flow,the flexible driving leg robot has a higher surface motion similarity with water strider.