仿生水黾机器人的漂浮特征

Floating characteristics of bio-mimetic water strider robot

水黾是一种栖息于静水面或溪流缓流水面上的常见昆虫。它主要利用水的表面张力实现在水面上的漂浮。由于其独特的漂浮机制和高效的划水方式,近年来,引起了越来越多的学者的研究兴趣。此文在Yun Seong Song等建立的支撑腿数学模型的基础上,进一步研究超疏水材料在仿生水黾机器人研制中的应用价值,即超疏水材料制成的支撑腿可以增加机器人在水上漂浮的安全性及减小运动阻力。为了进一步提高仿生水黾机器人的承载能力,增加支撑腿与水面的接触长度是关键。本文提出采用多根腿并排的方法进一步提高腿部的支撑能力。通过对平行腿不同间距时提供的最大支撑力研究,确定了一定区域内设置不同平行腿间隔时,支撑腿获得的最大支撑力的计算方法。计算结果与实验数据符合得较好。

The water strider is a kind of common insect which inhabits on water surface of the static water or often flows. Its floating force is mainly provided by the surface tension of water. Because of its unique floating way and the efficient walking way on the water, the water strider intrigues a growing number of scholars＇ interest recently. The measurements showed that contact angle of water strider legs reach as high as 167~. In this paper, based on the work ofYun Seong Song about supporting leg modeling, the application value of super-hydrophobic materials on bio-mimetic water strider robot was further studied, which can increase the security of water strider robot walking on the water and decrease the drag force. The key problem of improving thecarrying capacity of bio-mimetic water strider robot is to increase the contact length of support legs with water. A way to improve the carrying capacity by using several parallel legs was also presented. Through the study on the maximum support force, the formula of the maximum support force was derived. Experimental data and theoretical calculation are well matched.