足盘式水黾机器人关键技术研究及其样机研制

As a kind of bio-inspired micro robot, Water Strider Robot (WSR) is developed to stands and moves in this unique way of locomotion by surface tension as the insect water strider. Therefore WSR can save greatly energy because avoid from the water viscous drag, that is the main resistance to hinder the boat, submarine and fish-like robot. This makes it has the features of tiny drag, high speed, great agile, capability of accessing to shallow water and small disturbance to the water. The WSR is imagined that could be used on any water without huge wave and even amphibious in the future. With a chemical sensor, it could monitor water supplies for contamination or other toxins; with a camera it could be a spy or an explorer; with a net or a boom, it could skim contaminants off the top of water. However, water strider robot needs to be built so light and so compact because the supporting surface tension is usually small. It is really a big challenge to develop. Prof. M. Sitti of CMU said to Forbs, “I think it is the final challenge of microrobotics if you can make this thing.” As a newcome important research area, WSR is currently developing in few universities of USA, Japan and China. Till to now, only several primal prototypes were successfully developped.. Based on the successful research results of the former NSFC project on statics, optimal design of supporting leg and driving leg, and a remote-controllable prototype, this proposal focuses on the structure optimal design, dynamics, self-navigation and control system design, nonholonomic system control method, system integration technology of WSR for developing a prototype and experimental research. A novel kind of WSR will be developed with the feature of motor-driven, non-tethered with, self-operation and remote controllable, autonomous “phototropic movement” - trend to infrared light or other heater, camera and wireless transmitter equipped for send back the picture and video. Some creative achievements should be generated from the research project in integration of micro-robot, dynamics on surface tension, control system design, dynamics, autonomous navigation and control methods etc. The prototype WSR should be developed can also be utilized to be a kind of test-bed to observe phenomena, to validate new theory, to measure data for the relevant disciplines, especially fluid dynamic and material technology.

水黾机器人仿生水蜘蛛，利用表面张力在水面站立和行走，几乎不受粘性阻力，能极大地降低运动能耗，提高工作时间。此外因其特殊的运动方式，不会在浅水区搁浅，甚至有可能水陆两栖（有待研究），运动过程对水体的扰动也非常小。因此在侦察勘测、水质监控、液面清污等领域具有十分重要的应用前景。另一方面，机器人要利用表面张力在水面站立和行走，必须非常轻巧精密，研制难度很大。相关研究在国内外都还很不完善。其研究在微小型机器人系统集成、水面拖动、表面张力支撑系统的动力学、控制系统设计等方面具有重要的理论意义。项目拟在前期完成静力学分析、支撑腿/驱动腿形状优化设计方法，并成功研制一种可遥控水黾机器人的基础上，重点研究新一代足盘式水黾机器人系统集成、结构优化设计、运动中的力学问题、自主控制系统与非完整控制算法等关键技术问题，研制电动、无缆、可自主运动并可遥控、携带视觉传感系统并可无线传输图像的高性能水黾机器人。

本项目通过水黾机器人静力学分析、支撑腿/驱动腿形状优化设计方法、整体结构和布局优化设计方法的研究，以及新一代水黾机器人系统集成、结构优化设计、运动中的力学问题、动力学建模分析与仿真、自主控制系统设计与非完整控制算法等关键技术的研究。研制成功了支撑力大幅提高，电动、无缆、可自主运动并可遥控的新一代水黾机器人。

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