仿水黾水面滑跳复合运动机器人及其水动力学研究

Inspired by the water-surface locomotion of water strider, we propose a novel multi-locomotion strider robot with gliding and jumping capabilities on water. This research mainly focuses on the robot-water interactions and hydrodynamics by combing theoretical and experimental methods, and will provide both theoretical basis and technology support for the development of agile water-surface robots with high concealment in future. Analysis models for the robot-water interactions are established by considering the surface wettability and vortex, according to which, the leg-water interactions and external forces exerted on the supporting legs by the vortex induced by driving legs are investigated, respectively. Multibody dynamic models for the robot walking on water with different giants are built, and the influences of structural parameters, rowing actions and water wave on the robot’s motion characteristics and stability on water are quantitatively studied. An optimization design method for the driving mechanism is proposed to realize the maximization of mechanical efficiency. A new strider robot prototype is developed with composite locomotion that combines gliding and jumping capabilities. The robot possesses quick, high-efficiency, stable and multiple water-surface motion properties, and can be used to carry out various aquatic tasks such as detection, water quality monitoring and aquatic search and rescue by equipping control system and corresponding function modules.

基于水黾生物机理，本项目提出研究一种仿水黾水面滑跳复合运动机器人，开展机器人-水相互作用以及水面运动动力学相关基础理论与实验研究，为今后研究面向实际应用的机动灵活且高隐秘性的水面运动机器人奠定理论基础和技术支撑，包括：提出基于材料疏水性以及水面旋涡特征的水面滑跳机器人水面运动与水之间相互作用机理分析方法，分别建立腿-水接触受力计算模型、驱动腿划水产生的旋涡对支撑腿附加作用力计算模型；提出基于多体系动力学方法建立的仿水黾水面滑跳复合运动机器人动力学模型，揭示机器人结构参数、划水动作、水面波动等因素对其水面运动性及稳定性的影响规律；提出基于水黾生物机理的机械效率最大化驱动机构优化设计方法，研制出一款新型仿水黾机器人样机，驱动机构兼顾滑行、跳跃复合运动模式，具有快速、高效、稳定、多样的水面运动能力，未来搭载控制系统实现功能化，能够用于执行水面侦查、水质监测以及水上搜索与救援等任务。

仿生水黾机器人的研究被誉为“对微型机器人研究的极限挑战”，为借鉴生物水黾的运动机理，提高机器人的运动性能，本项目研究了疏水性微观机理、柔性驱动机理与划水运动过程的动力学模型。（1）基于液滴冲击超疏水性表面的微观仿真方法，系统分析了疏水性影响微观机理，建立了不同结构支撑腿水面支撑与脱离受力模型，分析了支撑腿结构、尺度变化对支撑力、拖拽力的影响规律以及柔性驱动腿驱动机理。（2）基于柔性驱动腿划水的空间变形与受力分析模型，分析了驱动腿刚度变化对驱动腿极限划水频率及驱动力的影响规律。（3）针对目前水压力驱动的水面跳跃机器人与水-空气界面相互作用缺少精确计算模型的问题，基于Wanger入水理论建立了矩形驱动腿划水全过程受力计算模型，涵盖了液面变形以及附加质量力的影响，提高了机器人与水-空气界面相互作用求解精度。设计并制作了一款柔性腿驱动机器人、微小型水面滑行运动机器人、水面跳跃运动机器人、以及首款同时具有水面跳跃和滑行运动能力的水面运动机器人。