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1、哈尔滨工业大学工学硕士学位论文AbstractBionicwaterwalkingrobotisakindofmicro-robotsthatnotonlycanfloatandmovefastonthewatermainlybythesurfacetension,butalsocanhelppeopleaccomplishcertainmissions,ofwhichtheprototypesarewaterinsectssuchaswaterstrider,waterspider.Researchonbionicwaterwalkingrobotisacrossadvance
2、dprojectthatinvolvesmanyfields:Bionics,MEMS,Nano-materials,Surfacechemistryandsoon.Thisprojectisstillinthestartingphase,andisdescribedbyprofessorMetinSittiatCarnegieMellonUniversityas“thefinalchallengeofmicrorobotics”.Inthefuture,bionicwaterwalkingrobotcanbeusedinwaterqualitymonitoring,waterd
3、etection,waterrescueandsomeotherfields.Therefore,researchonbionicwaterwalkingrobotnotonlyhasimportantscientificsignificance,butalsohasverybroadapplicationprospectsinbothcivilianandmilitary.Thisstudyonthefloatingmechanismofthewaterstriderdevotestofindingeffectivecalculationmethodstoestimatethe
4、loadcapacityofbionicwaterwalkingrobotfromthestaticpoint.Applyinghydrodynamics,thestresssituationaswaterstriderandwaterspidermovingonthewaterisanalyzed.Basedontheprincipleofscrew,awirelessexperimentalprototypeisdeveloped,anditsloadcapacity,movementandstabilityarestudied.Firstly,singlelegmodela
5、ndmulti-supportinglegsmodelarebuilt,thatareusedtoderivebuoyancycalculatingmethods.Onthisbasis,theinfluencesofcontactangleandtheradiusofthesupportinglegonbuoyancyareanalyzed.Then,verifyinganalysisonthetheoreticalderivedfromexperimentsisgiventoprovidereferenceforestimatingtheloadcapacityofbioni
6、cwaterwalkingrobot.Secondly,aflappermodelisestablishedtoderivethecalculatingmethodofthevolumeofwaterdischargedbyanalyzingthegrooveprofilederivedfromtheflappermodel.Fromthat,thestresssituationoflegswhenthewaterstridersslideonthewaterisanalyzed,thatcanprovidereferenceforthestressanalysisofbioni
7、cwaterwalkingrobot.Finally,basedonthecalculationmethodofthesupportinglegbuoyancyandtheforceanalysisondrivenlegs,awirelessexperimentalprototypeisdeveloped,II哈尔滨工业大学工学硕士学位论文ofwhichtheloadcapacity,drivecapacityandstabilityareanalyzed.Atlast,thel
