TY - GEN
T1 - A continuous jumping robot on water mimicking water striders
AU - Yan, Jihong
AU - Yang, Kai
AU - Wang, Tao
AU - Zhang, Xinbin
AU - Zhao, Jie
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - Aiming at mimicking the jumping locomotion of water striders, a new continuous jumping robot on water is proposed. Compared with the horizontal rowing motion, the jumping capability of water striders is challengeable to imitate, since the impact force on water is easy to cause the sinking of the robot. In this paper, a jumping mechanism based on springs is designed to produce a large thrust for the robot to jump. The shape of supporting legs and center of gravity of the robot are carefully designed so that the robot can jump on the surface continuously and smoothly. Influences of several critical factors, including the area of supporting legs, spring stiffness and jumping angle, on jump performance are analyzed by means of dynamic simulation and experiments. The fabricated robot weighs about 10.2 g and can continuously jump on water with the maximum leap height and length of 120 mm and 410 mm, respectively.
AB - Aiming at mimicking the jumping locomotion of water striders, a new continuous jumping robot on water is proposed. Compared with the horizontal rowing motion, the jumping capability of water striders is challengeable to imitate, since the impact force on water is easy to cause the sinking of the robot. In this paper, a jumping mechanism based on springs is designed to produce a large thrust for the robot to jump. The shape of supporting legs and center of gravity of the robot are carefully designed so that the robot can jump on the surface continuously and smoothly. Influences of several critical factors, including the area of supporting legs, spring stiffness and jumping angle, on jump performance are analyzed by means of dynamic simulation and experiments. The fabricated robot weighs about 10.2 g and can continuously jump on water with the maximum leap height and length of 120 mm and 410 mm, respectively.
UR - https://www.scopus.com/pages/publications/84977572854
U2 - 10.1109/ICRA.2016.7487669
DO - 10.1109/ICRA.2016.7487669
M3 - 会议稿件
AN - SCOPUS:84977572854
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4686
EP - 4691
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Y2 - 16 May 2016 through 21 May 2016
ER -