Design and Kinematics Analysis of Propulsion Mechanism of Biped Robot Running on Water

A biped robot is designed to simulate the water running function of the basilisk lizard. The propulsion mechanism and the control system of the robot are studied. Based on the water running process of the lizard, the changed Watt-I planar linkages are developed to provide the lifting and propulsion forces to run on water. On the basis of the movement equations of the four-bar mechanism and the coordinate transformation equations, the double bar Assur Group movement trajectories of the linkages are deduced to simulate the foot trajectories of the lizard. According to the kinematics principle of the planar four-bar linkage, we have studied the kinematics parameters of the Watt-I linkage, which are the basis of the manufacturing of the prototype. The real prototype of the robot is manufactured to test its function of water running. The lifting and propulsion force generated by the mechanism is similar with the basilisk lizard, whose value is about 1.3N. The experiment results show that the propulsion mechanism can satisfy the requirement of biped robot running on water.

Performance Analysis of Bionic Propulsion Device above Water in Different Parameters

This paper mainly researched on hydrodynamics performance of a wheel-blade bionic propulsion device designed based on the mechanism of a basilisk lizard treading water, when immerged in water and in different angles. Applied FLUENT software to gain the figures on lift force, propulsion, pressure nephogram and volume fraction distributing of bionic propulsion device when θ is at 100o, 125o and 140o, discussed and analyzed the rules of hydrodynamics when θ was altering, established the groundwork of optimizing the design of the bionic propulsion device further.

Designing and Kinematics Analysis on Running Mechanism of Biped Robot for Water-Running

A mechanism based on a Grashof crank-link mechanism and a hybrid-drive six-linkage mechanism is designed to fit its ankle and sole trajectories and imitate the function of the basilisk lizard running on water. The linkage mechanism kinematics theory and the geometric identity condition are used to analyze the mechanism kinematics, and an instance simulation is carried out to prove that the mechanism can satisfy the kinematics requirements of water-running.

Optimization Synthesis on Water Running Mechanism of Biped Robot

A mechanism based on a four-linkage mechanism and a hybrid-drive six-linkage mechanism is designed to imitate the function of the basilisk lizard running on water. The kinematics analysis of the water running mechanism is carried out by using the linkage mechanism kinematics and the D-H method. Then the stability analysis of the mechanism is carried out according to the critical conditions. At last the mechanism is simulated and optimized for getting the maximum momentum in the slap phase and the maximum force in the stroke phase. And the simulation result shows that the mechanism can satisfy the requirement of biped water running.

A Serendipitous Application of Supercavitation Theory to the Water-Running Basilisk Lizard

The classic study of the water entry of a body has applications ranging from hydroballistics to behavior of basilisk lizards. The availability of Russian supercavitation theory in recent years has allowed for an even greater understanding, and was used to develop a model to predict the dynamic size, shape, and pressure of a naturally or artificially produced underwater cavity. This model combines supercavitation theory, rigid body dynamics, and hydrodynamic theory into a comprehensive model capable of determining the motional behavior of underwater objects. This model was used as the basis for modeling the vertical water entry of solid objects into a free water surface. Results from simulation of water entry of various-sized thin disks compared favorably with published experimental data from the technical literature. Additional simulated data support a disk radius dependence on a relative object depth at cavity closure that was not previously recognized. Cavity closure times are also presented.