水上行走机器人腿部静力学分析.pdfVIP

20 10 10 O ctober 2010 36 10 Journa l o f Be ijing U nivers ity of A eronautics and A stronautics V ol. 36 N o10 王淑慧 吴立成 ( , 100 191) ( , 100081) 水上行走机器人仿生水黾, 利用腿部产生的表面张力在液体表面站立和行 走. 过静力学分析可计算机器人载重能力, 并给出腿部形状设计准则. 建立了水上行走机器 人支撑腿的静力学模型, 分析了表面张力最大值条件即水面打破条件, 提出了腿部支撑力及其 最大允许入水深度的计算方法. 采用该方法, 使用M atlab 计算得到了几种不同材料的表面张 力与接触角关系曲线, 计算了几种材料支撑腿的支撑力及其允许入水深度的最大值, 并 过与 实验数据相比较, 验证了计算方法和结果的正确性. 水上行走机器人; 表面张力; 静力学 TP 242 A ( 20 10) S tatics ana lys is on the leg of w ate r stride r robot W ang Shuhu i ( S chool of A utom ation S cien ce and E lectrical E ngineering, B eijing U n iv ers ity of A eronau tics and A stron aut ics, Beijing 100 19 1, Ch ina) W u L icheng ( College of In form ation Eng ineering, Cen tral U n ivers ity for N at ional it ies, Beij ing 100081, Ch in a) Abstract A s a bion ic robot of the w ater strider, w a ter strider robo t stays afloat and stride on w ater sur face relies on surface ten sion prov ided by the leg s. Stat ics ana lysis cou ld be u sed to calcu late the robo ts load capacity and then to define the criterions for design ing the supporting leg. A static m odel of the supporting leg w as bu ilt first and the surfacebreak ing cond ition, nam ely the condition for getting m ax mi um surface tension, w as ana lyzed. T hen the m ethods for calcu lating the support ing fo rce and the m ax mi um a llow ed depth th at the leg pu shes the w ater w ere