Kinematic Analysis on Driving Mechanism and Control System Development on Water Strider Robot

摘要

Inspired by water strider's sliding or jumping quickly on water,we study one water strider robot in this paper.Based on function bionics and taking load capacity into account,the robot is designed as rowing across water by two middle driving legs and floating on water by buoyancy of four supporting legs in the front and back.The two middle driving legs achieve forward and backward movement by a crank-rocker mechanism,and achieve up-lifting and water-entry movement by a parallelogram mechanism.The water strider robot can fulfil moving forward and turning movement on water surface by sequential control the driving motor of crank-rocker mechanism and parallelogram mechanism.Kinematic analysis on mechanism of driving legs of water strider robot was done in this paper.And kinematic simulation on the paddle of driving leg was done in ADAMS software to make the paddle's trajectory is appropriate.The prototype of water strider robot was developed in this article.Steering engine was used to actuate driving legs.Development on control system and experiment research was also done.The results of experiments show the rationality and feasibility of both the structure of driving legs and the control system of water strider robot.