TY - GEN
T1 - A miniature surface tension-driven robot mimicking the water-surface locomotion of water strider
AU - Zhang, Xinbin
AU - Yan, Jihong
AU - Zhao, Jie
AU - Liu, Gangfeng
AU - Cai, Hegao
AU - Pan, Qinmin
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - Aiming at mimicking water strider's water-surface locomotion, this study proposes a new miniature surface tension-driven robot. A key feature of this robot is that its actuating legs possess ellipse-like spatial trajectories like water strider by using a cam-link mechanism, and never pierces water surface when rowing. A set of simple models and equations are proposed to analyze the interaction forces between leg and water as well as the critical condition for a leg penetrating a water surface. The final fabricated robot weights about 3.9 g with a load capacity of 5.6 g. By controlling the motions of actuating legs, the robot can freely and stably walk on water with different gaits. The maximum forward and turning speeds of the robot are measured as 16 cm/s and 23 °/s, respectively. Moreover, a similarity analysis with Bond Number and Weber Number reveals that the locomotion of this robot is quite analogous to that of a water strider: surface tension force dominates the lifting force and plays a major role in the propulsion.
AB - Aiming at mimicking water strider's water-surface locomotion, this study proposes a new miniature surface tension-driven robot. A key feature of this robot is that its actuating legs possess ellipse-like spatial trajectories like water strider by using a cam-link mechanism, and never pierces water surface when rowing. A set of simple models and equations are proposed to analyze the interaction forces between leg and water as well as the critical condition for a leg penetrating a water surface. The final fabricated robot weights about 3.9 g with a load capacity of 5.6 g. By controlling the motions of actuating legs, the robot can freely and stably walk on water with different gaits. The maximum forward and turning speeds of the robot are measured as 16 cm/s and 23 °/s, respectively. Moreover, a similarity analysis with Bond Number and Weber Number reveals that the locomotion of this robot is quite analogous to that of a water strider: surface tension force dominates the lifting force and plays a major role in the propulsion.
UR - https://www.scopus.com/pages/publications/84938220485
U2 - 10.1109/ICRA.2015.7139636
DO - 10.1109/ICRA.2015.7139636
M3 - 会议稿件
AN - SCOPUS:84938220485
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3172
EP - 3177
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -