Journal of Bionic Engineering ›› 2022, Vol. 19 ›› Issue (2): 331-342.doi: 10.1007/s42235-021-00147-z
• • 上一篇
A Water Strider Robot with Five Umbrella-Type Footpads
Chunyan Yao1,2, Tianwei Sheng1,2, Yijun Zhu1,2, Kaixiang Xu1,2, Shiwu Zhang3
- 1 College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China 2 National International Joint Research Center of Special Purpose Equipment and Advanced Processing Technology, Zhejiang University of Technology, Hangzhou 310023, China 3 Department of Precision Machinery and Instruments, College of Engineering Sciences, University of Science and Technology of China, Hefei 230031, China
A Water Strider Robot with Five Umbrella-Type Footpads
Chunyan Yao1,2, Tianwei Sheng1,2, Yijun Zhu1,2, Kaixiang Xu1,2, Shiwu Zhang3
- 1 College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China 2 National International Joint Research Center of Special Purpose Equipment and Advanced Processing Technology, Zhejiang University of Technology, Hangzhou 310023, China 3 Department of Precision Machinery and Instruments, College of Engineering Sciences, University of Science and Technology of China, Hefei 230031, China
摘要： The design of most water strider robots follows the principle that all supporting legs are in a plane, and each supporting leg bears a certain load and the water strider robot can float on the water. To meet this principle, the number of supporting legs and the spacing between each supporting legs of the water strider robot must be increased, which makes the shape of water strider robots look like octopus. This study proposed a novel water strider robot named 5S-robot, which used five new umbrella-type footpads and a centrifugal pump-based actuating mechanism. Motion analysis model and force analysis model of 5S-robot were built. The general consistency between the results of motion experiments and those of numerical simulation verified the former models. For this 5S-robot, the maximum load of 110.5 g and forward speed of 207.1 mm s?1 and rotational speed of 1.22 rad s?1 were measured, respectively.