Shape and location design of supporting legs for a new Water Strider Robot

Author

Wu Licheng ; Wang Shuhui ; Ceccarelli, Marco ; Yuan Haiwen ; Yang Guosheng

Author_Institution

Sch. of Inf. Eng., Minzu Univ. of China, Beijing, China

fYear

2011

fDate

25-30 Sept. 2011

Firstpage

5061

Lastpage

5066

Abstract

In this paper, the problems are discussed for shape design and position arrangement for Water Strider Robot´s supporting legs are discussed. A supporting leg is approached as Euler-Bernoulli elastic curved beam and a method for designing its optimal shape is proposed by analysing elastic deformation and stress-strain. The objective of the proposed optimal method is to attain the maximum lift force in leg operation. The effectiveness and validity of design results are verified through simulations and lab experiments. A method for properly locating supporting legs on the robot body is proposed by analysing the influence of leg location to lift force and the relationship of supporting legs´ with robot´s roll-resistant capability. A layout scheme for the Water Dancer II-a prototype with ten supporting legs is presented with its operation successful designed.

Keywords

beams (structures); design engineering; elastic deformation; elasticity; legged locomotion; marine systems; stress-strain relations; Euler-Bernoulli elastic curved beam; elastic deformation analysis; layout scheme; location design; maximum lift force; optimal shape; position arrangement; roll-resistant capability; shape design; stress-strain analysis; supporting legs; water dancer II-a prototype; water strider robot; Educational institutions; Force; Legged locomotion; Mathematical model; Shape; Surface tension;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Conference_Location

San Francisco, CA

ISSN

2153-0858

Print_ISBN

978-1-61284-454-1

Type

conf

DOI

10.1109/IROS.2011.6094472

Filename

6094472