Research On A Micro Bionic Flapping Wing Robot On Water Surface

At present,the main motion forms of micro water surface motion robot are gliding and jumping,and the flapping wing flight can expand the robot’s motion space range and improve the mobility and flexibility of the robot,which has become an inevitable trend in the development of micro water surface motion robot.However,for the robot to realize flapping-wing flight on the water surface,not only a large lift is required,but also due to the impact of the flapping-wing motion,the water surface also needs to provide a large support force for the robot,which involves complex unsteady aerodynamics and hydrodynamics of water-air interface.Therefore,many key technologies need to be solved in order to realize flapping wing flight on the water surface of the robot,but there is still a lack of mature theory and technology.To this end,this article combined with the National Natural Science Foundation of China "Water Strider Water-Slip Jumping Composite Motion Robot and Its Hydrodynamics Research",and researches on the structural design,mechanical analysis,dynamics simulation and experiment of the micro-bionic water-surface flapping flying robot.Firstly,the structure design and optimization analysis of the bionic flapping wing flying robot are carried out Based on the hummingbird’s flapping wing motion mode and the biological law of motion parameters,a crank-rocker slider plus a four-bar linkage mechanism is used as the flapping wing drive mechanism to realize the output of the flapping action of the robot.Based on the floating mechanism of water strider,a water surface support foot with super-hydrophobicity and large supporting moment is designed.Combining the flapping wing drive mechanism and the water surface support foot,the overall structure design of the miniature water surface flapping flying robot is completed.Based on the force analysis of the whole process of flapping wing flight of water surface robot in stages,the optimal design principle of the flapping-wing flying robot is determined.Secondly,the mechanical analysis and optimization design of the flapping wings and the surface support feet of the robot are carried out.Based on the flapping wing’s kinematics model and quasi-steady aerodynamic model,the lift,drag and side force generated by the flapping wing were calculated,and the area,aspect ratio and taper ratio of the wing parameters were optimized according to the optimization principle of the flapping wing.Based on the water-air interface analysis,the supporting force and dragging force of the water surface support feet were analyzed.According to the optimization principle of the water surface support foot,the cross-section shape,plane shape,front and rear spacing,quantity and left and right spacing of the water surface support feet were optimized.Finally,the dynamics simulation of the robot and the flapping wing flight experiment of the prototype are carried out.Through the joint simulation method to establish a robot dynamics simulation model that simulates the water-air environment,using orthogonal experiment method to carry out the six factors,five levels of the water the flapping wing flight simulation experiment,through the intuitive analysis and variance analysis method to explore the influence the surface significant factors of the flapping wing flight evaluation index,and optimize the parameters of the robot.The preparation of the robot prototype and the construction of the experimental environment of flapping wing flight on the water surface were completed,and the flying ability test of robot flapping wing was carried out.The salient factors affecting the flight evaluation indexes of flapping wing on the water surface were verified by experiments,and the robot parameters were further optimized while the simulation results were verified.At the same time,the flapping wing flight ability of the optimized robot is verified.