水上行走机器人腿部静力学分析

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.通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Matlab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,并通过与实验数据相比较,验证了计算方法和结果的正确性.

Statics analysis on the leg of water strider robot

As a bionic robot of the water strider, water strider robot stays afloat and stride on water surface relies on surface tension provided by the legs. Statics analysis could be used to calculate the robot-s load capacity and then to define the criterions for designing the supporting leg. A static model of the supporting leg was built first and the surface-breaking condition, namely the condition for getting maximum surface tension, was analyzed. Then the methods for calculating the supporting force and the maximum allowed depth that the leg pushes the water were proposed respectively. Utilizing the proposed model and methods, the curves between surface tension and contact angle of several kinds of materials were figured by using of the Matlab program. The supporting force and the maximum allowed depth of the leg with several kinds of materials were calculated. The validity of the proposed models and methods were verified by comparing the calculation with some experimental values.