Title :
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
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;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-61284-454-1
DOI :
10.1109/IROS.2011.6094472
