仿生水黾机器人划水动力学建模及实验分析-modeling and experimental analysis of water-crossing dynamics of bionic water-striding robot.docxVIP

AbstractThe research of bionic water strider robot can not only expand the robots working space from the known structure space to the unknown space, but also promote the progress of basic science in the relevant fields,such as the mechanism innovation of the micro-robot, the interfacial fluid mechanics,the research and development of superhydrophobic materials and so on.Although the study of bionic water strider robots is still in the laboratory stage currently,we can expect their broad application prospect in the long run in the area of military reconnaissance, disaster relief, environmental monitoring in the water as well as complex pipeline monitoring and repair. This is due to the bionic water striders unique advantages such as simple structure,high performance of concealment,high mobility ,low energy consumption, easy remote control etc.There are two main research directions for the field of bionic water strider robots: The research of the superhydrophobic mechanism based on the water strider legs micro-nano seta structure and research of water walking robot based on water striders stroking movement.At present, domestic and foreign researchers have made significant progress in the prototype development and improvement, but the research of the force analysis for the water strider is still concentrated in the static analysis phase for the supporting leg .The paper builds dynamic model for the water striders stroking movement,make theory analysis of the reaction propulsive force for the acting leg and the the floating stability on the surface, then verify the validity of the theory aforementioned from the finite element simulation and prototype experiment ,respectively.First of all, the paper builds dynamics modeling for the stroke movement of water striders acting leg base on the interfacial fluid mechanics and the Momentum Theory, analyze the propulsion force of water striders leg when stroking the water with a certain angular velocity and the impu