| Citation: | GONG Xiao, HUANG Jinguo, CHEN Hongyu, et al. Dynamics modeling and kinematics calculation of webbed-feet during cormorant's take-off[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(10): 2096-2105. doi: 10.13700/j.bh.1001-5965.2018.0030(in Chinese)
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The process of taking off from the surface of water for cormorant is a combination of flapping its wings and its webbed-feet periodically. In order to look into the contribution of the latter that helps in taking off and to compute each period in fixed quantity of the amount of force in each flapping action, this article explores the contribution of hind limb power to the process of taking off as well as the reasons of the need of leg strength for assistance. At the same time, through introducing various types of water walking living creatures and looking at the differences and similarities in the ways that nature creatures walk or run on the water surface, the continuous flapping mechanism of cormorant and other aquatic birds on water surface is studied. Moreover, by comparing the different modes and mechanism of water movement of basilisk lizard and cormorant, an analogy is made to study the impulse generated by the webbed-feet which sustains the body as well as the changes of webbed-feet beating the water. With the DOF of cormorant's webbed-feet defined, the periodic flapping kinematics model during cormorant taking off is established. The D-H matrix of the leg joint angle and the webbed-feet center coordinates, as well as the Jacobian matrix of the joint angular velocity and the webbed-feet center speed are analyzed. Through the existing video analysis, the reliability of the model is verified, and the basic calculation is made for the movement of the cormorant's webbed-feet and the horizontal and vertical direction.
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