Stroke Kinematics Analysis and Hydrodynamic Modeling of a Buoyancy-Supported Water Strider Robot
Source abstract
Abstract
The locomotive ability of a water strider that generates an ellipse-like spatial stroke trajectory when moving is proved to improve its moving efficiency and is seldom imitated by water strider robots. A hydrodynamic analysis can predict the performance of the robots, but research in this area is not enough. A buoyancy-supported water strider robot with the ability of producing an ellipse-like spatial stroke trajectory was designed and analyzed in this study. A semiempirical hydrodynamic model suitable for the buoyancy-supported robot was proposed to study the hydrodynamic characteristics, based on the Newton’s second law of motion. The speed, power and efficiency of the robot were analyzed on the basis of the model which confirmed that the robot performing an ellipse-like spatial stroke trajectory was conducive to its moving efficiency. The experimental results verified that the stroke mechanism produced an ellipse-like spatial trajectory in a practical application and that the robot had good mobility. The proposed hydrodynamic model was validated by comparing the theoretical speed of the robot to the experimental results.
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Research context
OpenAlex topics: Fluid Dynamics Simulations and Interactions · Underwater Vehicles and Communication Systems · Soft Robotics and Applications
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Ocean College, Zhejiang University, Zhoushan 316021, China
Laboratory for Marine Geology, Qingdao National Laboratory for Marine Science and Technology, Qingdao 266061, China
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