Design And Research Of Large-scale Articulated Water Bouncing Robot

Water robot has wide applications,such as military reconnaissance,water quality monitoring and wetland detection in complex water environment.But water robot with small scale has limited load capacity,which affect the application in real life.To address this problem,we do research about large-scale articulated water bouncing robot.This robot can bounce on the water by the water slapping force and has larger load capacity.The research is focus on the followings:First,research on the mechanical model when the robot entries water.In this paper,circular cone is selected as the foot of robot,thus the model can be converted into the mechanical model of circular cone entering water.The calculation method of added mass is adopted and the theoretical equation is derived based on theorem of momentum.Besides,the relationships between deadrise angle of circular cone,mass,initial velocity with peak value of force of water on the circular cone is analyzed quantitatively.The model is verified by ADAMS simulation.Second,construct double-mass spring model.The mechanical resolution of this model is accomplished by numerical calculation in MATLAB.Besides,the influence of deadrise angle of circular cone,mass,initial velocity,spring stiffness when the robot jump out water completely is analyzed quantitatively.Third,construct the simplest mechanical modal of articulated water bouncing robot based on Newton-Euler method and do the corresponding mechanical analysis.Here,the feasibility of taking articular mechanism as the robot's leg is demonstrated.Thus,convert the telescopic robot into articular robot which is verified by ADAMS simulation.Based on the design concept of the Salto robot,a six-bar approximating linear mechanism is finded as the leg mechanism of the robot and optimizes the parameters of this mechanism.Finally,the robot's physical design is conducted based on the parameters above and the robot 3D solid model is constructed to accomplish the robot dynamics analysis and for the virtual prototype technology verification.This work provides theoretical foundation for the later research about large-scale articulated water bouncing robot.