机器人2011，Vol.33Issue(5)：513-518,6.DOI:10.3724/SP.J.1218.2011.00513
水上行走机器人支撑腿的设计与布局
Design and Arrangement of Supporting Legs for Water Strider Robot
摘要
Abstract
The problems of shape design and position arrangement for water stricter robot's supporting legs are discussed. Firstly, the supporting leg is regarded as Euler-Bernoulli elastic curved beam and a method for designing its optimal shape is proposed by analyzing its geometric flexible deformation and stress-strain. The objective of the optimal method is to attain the maximum supporting force. The effectiveness and validity are verified through simulations and an experiment. Secondly, a method for arranging the supporting legs on the robot body is proposed by analyzing the influence of supporting legs' spacing on supporting force, and study the relation between supporting legs' position arrangement and robot's rolling-resistant capability. A layout scheme for the Water Dancer Il-a with ten supporting legs is designed, which satisfies the requirements.关键词
水上行走机器人/支撑腿/优化设计/布局/弹性曲梁Key words
water strider robot/ supporting leg/ optimal design/ layout/ elastic curved beam分类
信息技术与安全科学引用本文复制引用
吴立成,连志鹏,袁海斌,王淑慧,杨国胜..水上行走机器人支撑腿的设计与布局[J].机器人,2011,33(5):513-518,6.基金项目
中央高校基本科研业务费专项资金资助项目(0910KYZY52.0910KYZD05) （0910KYZY52.0910KYZD05）
北京市教委共建项目建设计划科学研究与科研基地建设项目(104-00102211):教育部科学技术研究重点项目(211212) （104-00102211）
国家自然科学基金资助项目(60875062,61004023). （60875062,61004023）
