仿生机械水黾特性研究与实现-机械制造及其自动化专业论文.docx

仿生机械水黾特性研究与实现 THE CHARACTERISTIC RESEARCH AND REALIZATION ON BIONIC MECHANICAL WATER STRIDER ABSTRACT Nowadays the research on bionic robot is an advanced subject in robot field. The future developing direction of bionic robot is to manufacture a robot which can work on adverse circumstances instead of man in simulation to excellent functions of biology on diversified given conditions. The characteristic research and realization on bionic mechanical water strider is developing a novel bionic based on the basic principle that water strider can walk on water surface. Domestic and foreign scholars have made some researches on bionic mechanical water strider, but the researches are now on the stage of laboratory research. In order to realize the aim that the robot can fulfill tasks on far-water surface independently, many researches, innovations, experimentations on robot should be done. Therefore, to study the bionic mechanical water strider not only has important scientific significance but military and civilian significance. It has very broad application prospects. This paper makes research aiming at the walking function of the water strider and put forwards a novel bionic mechanical water strider. The main contents of the work are as follows: Based on the virtual prototyping technology the robot driving mechanism and the overall mechanism have been designed and simulated. The mechanism was verified reasonably. The mechanism kinematics was simulated based on ADAMS software to obtain trajectory, speed and acceleration curve. The reasonableness of the structure design, efficiency of movement and the correctness of function were confirmed. Structural strength was tested to meet actual requirements by analysis on strength of the joints. Through hydraulics analysis, robots thrash legs force formula and the overall stability of calculation was set up. Based on ANSYS software modality analysis was done to compute the natural frequency and vibration mode of the structure to