Design and Modeling of a Novel Biomimetic Robot Inspired by Water Strider

This paper presents the mechanical design, modeling, and experimental behavior of a novel biomimetic robot inspired by water striders, which are six-legged insects that move on water by propelling themselves using two mesothoracic legs and supporting themselves with the four other legs. As the surface tension of water is too low for the robot to carry heavy equipment, four hollow elongated ellipsoids are used as the supporting legs. Relative to a screw propeller, the rowing legs cause less turbulence in the water. Because of the propeller, this robot can operate in various environments, such as a windy lake, underground pipeline, and even the sea. The total weight of the robot is 439 g. The paper is focused mainly on the hydrodynamic characteristics of the stroke legs and supporting legs. The model of flow over a flat plate is used to describe the hydrodynamic characteristics of the stroke legs, which can be used to improve the shape of the paddle. Several shapes of supporting legs are tested by STAR-CCM+ software to determine the running resistance. By modeling the hydrodynamics of the stroke and supporting legs, the structure of the robot can be improved. As experimentally validated, this robot exhibits good performance on water and can reach an average speed of 125.5 mm/s.

• Record URL:
  https://doi.org/10.4031/MTSJ.50.5.5
• Record URL:
  http://www.ingentaconnect.com/content/mts/mtsj/2016/00000050/00000005/art00005
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/1623789
• Supplemental Notes:
  • Copyright © 2016 Marine Technology Society, Inc.
• Authors:
  • Huang, Haocai
  • Zhang, Shihao
  • Chen, Xianlei
  • Miao, Jin
  • Ge, Han
• Publication Date: 2016-9

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 35-44
• Serial:
  • Marine Technology Society Journal
  • Volume: 50
  • Issue Number: 5
  • Publisher: Marine Technology Society
  • ISSN: 0025-3324
  • Serial URL: http://ingentaconnect.com/content/mts/mtsj

Subject/Index Terms

• TRT Terms: Aquatic life; Insects; Mechanics; Propulsion; Robots; Ships; Vehicle design
• Uncontrolled Terms: Dynamic analysis
• Subject Areas: Design; Marine Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01616735
• Record Type: Publication
• Files: TRIS
• Created Date: Nov 21 2016 1:24PM