Research On A Miniature Water Jumping And Gliding Robot

Jumping and gliding can effectively expand the movement space of the miniature water surface robot,enhancing it mobility and flexibility.The water jumping and gliding of the robot is a complex system involving materials,structural layout,bounce mechanism,supporting system and robot-water interface hydrodynamic.Limited by the complexity of robot-water interface hydrodynamics and lacking of related theories,the research of this robot is still in elementary stage.In this respect,this paper combine with the National Natural Science Foundation of China,"Research on hydrodynamics of bionic water strider robots with jumping-gliding composited movement",engaging in the research on miniature water surface jumping and gliding robots.Firstly,analyzing the forces of the robot during jumping process based on the theory of fluid mechanics.Taking six-bar mechanism as the bounce mechanism to analyze the mechanical properties with different spring types and their combinations.Researching the mechanical model of leg-water interaction with different support leg shapes and structural parameters.Analyzing land and water surface jumping progress of the robot.Taking the stored energy and efficiency of the robot as the optimization goals,analyzing the influence of the geometrical parameters,spring elasticity coefficient,spring types and compression of the six-link bounce mechanism on the jumping performance of the robot.Providing theoretical basis for parameter optimization calculation of subsequent robot.Secondly,based on the knowledge of aerodynamics,analyzing the jumping and gliding process of the robot.According to the limitation condition of the robot gliding motion,the minimum effective height calculation formula of the robot jump is given to determine the minimum energy required of the robot.Analyzing the influence of the shape of gliding wing and gliding angle of attack on the gliding performance.And aiming at the maximum gliding distance of the robot,optimizing the aspect ratio,area of the wing and the take-off angles of the robot,Providing the foundation for structural design and manufacture of subsequent robots.Then,carrying out the structural design of the water surface jumping and gliding robot,spring is used as the energy storage component,incomplete gear and six-bar mechanism are used as the energy storage and release mechanism.Designing the prototype of the jumping and gliding robot.In order to carry out the dynamic simulation of robot surface jumping and gliding,the Adams dynamic simulation model was established.Analyzing the influence of different take-off angles and spring types on the jumping performance of the robot to optimize the robot structure.Finally,the high-precision 3D printing technology is used to manufacture the jumping and gliding robot,and carrying out the movement experiment under different parameters and environments.Analyzing the influence of energy storage springs,takeoff angles and different gliding wings on land jumping motion and gliding motion performance.Then,carrying out water surface jumping experiment of the robot.Combined with the characteristics of robot and water surface impact during the robot water surface jumping,the parameters of the bounce mechanism and the energy storage component are optimized to improve the water surface jumping performance of the robot.