Statics analysis on the leg of water strider robot
Wang Shuhui1, Wu Licheng2*
1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
2. College of Information Engineering, Central University for Nationalities, Beijing 100081, China
As a bionic robot of the water strider, water strider robot stays afloat and stride on water surface relies on surface tension provided by the legs. Statics analysis could be used to calculate the robot-s load capacity and then to define the criterions for designing the supporting leg. A static model of the supporting leg was built first and the surface-breaking condition, namely the condition for getting maximum surface tension, was analyzed. Then the methods for calculating the supporting force and the maximum allowed depth that the leg pushes the water were proposed respectively. Utilizing the proposed model and methods, the curves between surface tension and contact angle of several kinds of materials were figured by using of the Matlab program. The supporting force and the maximum allowed depth of the leg with several kinds of materials were calculated. The validity of the proposed models and methods were verified by comparing the calculation with some experimental values.