Study on Kinematics Analysis and Mechanism Realization

摘要

Based on the basic principle that water strider can walk on water surface, a novel bionic robot walking on water surface is put forward. The robot is driven by min-electromagnet. The driving mechanism of its legs is designed based on slider-crank mechanism and parallel mechanism, and the robot with six-legs is designed in simulation to the structure of water strider. Based on the technology of virtual prototype, the 3-D models of the driving mechanism and the whole mechanism of the robot have been modeled using Pro/E, and motion simulation research on motion trajectory, velocity and acceleration of the single leg and the whole mechanism of the robot have been done using ADAMS. The analyzing results show that the driving mechanism and the whole mechanism of the robot can achieve designing motion trajectory, and also the rationality of mechanism and the correctness of function realization have been proved. Based on specific working environment of robot walking on water surface, the prototype of robot has been manufactured. Under laboratory environment, walking experiment of robot has been done, and the result of experiment shows that robot designing in this paper can achieve walking on water surface.