Research On A Bionic Biped Robot Based On The Water-walking Principle Of Basilisk Lizards

Bionic robotics is one of the hot spots of research in the field of robotics today.By studying the characteristics of organisms in nature and applying their principles to the design of bionic robotic systems,scientists have developed robotic systems for various environments of water,land and air to achieve adaptability to different environments,promoting the progress and development in the field of robotics.Inspired by basilisk lizards that can walk on water at high speed,this thesis conducts a bionic study on the walking mechanism and bionic system of the basilisk lizard to build a new type of robotic system capable of bipedal water walking with new adaptive capabilities in the environment.In this thesis,we firstly analysed the motion mechanism of the basilisk lizard and its key factors,including the characteristics of the basilisk lizard’s body form,weight,water treading frequency of its legs and parameters of its paws.It analysed the movement parameters of the legs and paws of the basilisk lizard in the three stages of water walking,such as slap,stroke and recovery,as well as the information of the interaction force with water.The theoretical conditions for water walking are given preliminarily.Secondly,this thesis gives the mechanism design requirements for realising bipedal water walking,and proposes the design method of a new six-bar mechanism driven by a single motor with a half-cycle phase difference to realise the imitation of the ankle trajectory and foot posture of the water walking action of the basilisk lizard.The kinematics and dynamics of the mechanism were analysed according to the movement pattern of the lizard.The excellent high-speed dynamic movement characteristics of the mechanism are obtained.The hydrodynamic simulation of the periodic movements of a simplified model of a unilateral foot was then carried out to verify the effect of the formation of air cavities in the process of slapping and stroke,indicating the feasibility of the robot system stepping water with two feet.Finally,based on the performance requirements,it designed,selected type and material for each part of the robot to finish the building of the mechanical system of the bionic bipedal water,and the control system was built to achieve closed-loop acquisition of the deflection signal and motor drive speed adjustment,and the prototype was assembled and commissioned.Experiments were carried out to collect and analyse images,force data and displacement data during the operation of the prototype to demonstrate that the air cavity generated by the water slapping and stroke action has the ability to support weight of the prototype by stepping water,and the walking ability of the prototype on the water surface under partial constraints.