包含新型机构的仿水黾机器人设计及实现

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针对模拟水黾优异的水面驱动方式，基于仿生学原理，研究并适当改进水黾水面行走原理，提出了一种新型水面行走机构。通过运用一种具有超越离合、相位记忆和单向传动功能的新型内棘轮式齿轮机构作为传动控制机构制造了一种水上行走机器人样机，进行了机器人的控制系统软、硬件自主开发。并且在实验室条件下对样机进行了性能测试。实验结果表明，所设计的仿水黾机器人可以很好地实现前进、转弯等运动；此外小的转弯半径是该机器人最突出的优点，从而能够在更窄的航道内灵活地运动。 Aiming at mimicking water strider＇ s excellent performance on water, a novel bionic robot based on the principle that water strider could walk on water surface was introduced. A novel type of gear which combined with an inner ratchet mechanism with a signal pawl was ap- plied to the robot as the transmission driving mechanism. The gear not only could work as an overrunning clutch, but also had the ability of keeping the transmission shaft＇ s phase position. The hardware and software of the robot＇ s control system were developed. Tests to measure performance were executed in laboratory condition. The experimental result indicates that the water strider robot is quite controllable while advancing or turning around on water surface. Moreover, the most marked characteristic of the robot is its very small turning radius, which permits a more flexible movement in a narrower channel.