Design of the Leg Mechanism of a Water Surface Running Machine Driven by Pneumatic Actuators

摘要

A water surface running machine is a machine that runs along the water surface like a basilisk lizard. The machine supports its body weight by slapping its feet on the water surface and stroking them into the water. This paper presents the design of its leg mechanism driven by pneumatic actuators. To realize the water surface running machine, actuator with large ratio of the power to the mass of the actuator is needed. As this actuator, air cylinder with flexible cylinder and flexible rod was adopted. To clarify the required characteristics of this actuator, water surface running simulation of a basilisk lizard have been carried out. The characteristics of the flexible air cylinder have been experimentally clarified. We proposed the optimal foot motion for the leg mechanism with this flexible cylinder and developed a 3 D.O.F leg mechanism. We designed and built a prototype water-surface running machine. We experimentally investigated the motion of the body and feet, and the force acting on the feet.