Dynamics Analysis of Fluid-Structure Interaction for a Biologically-inspired Biped Robot Running on Water

被引：5
|
作者：
Xu, Linsen [1 ]
Cao, Kai [2 ]
Wei, Xianming [3 ]
Shi, Yungao [1 ]
机构：
[1] Chinese Acad Sci, Hefei Inst Phys Sci, Hefei, Peoples R China
[2] Changzhou Univ, Changzhou, Peoples R China
[3] Univ Sci & Technol China, Hefei 230026, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2013年 / 10卷
基金：
中国国家自然科学基金;
关键词：
Biped Robot; Running on Water; Dynamic Analysis; Fluid-Structure Interaction; ENTRY; FORCE;
D O I：
10.5772/57097
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A kinematics analysis of a biologically-nspired biped robot is carried out, and the trajectory of the robot foot is understood. For calculating the pressure distribution across a robot foot before touching the surface of water, the compression flow of air and the depression motion of the water surface are considered. The pressure model after touching the water surface has been built according to the theory of rigid body planar motion. The multi- material ALE algorithm is applied to emulate the course of the foot slapping water. The simulation results indicate that the model of the bionic robot can satisfy the water- running function. The real prototype of the robot is manufactured to test its function of running on water. When the biped robot is running on water, the average force generated by the propulsion mechanism is about 1.3N. The experimental results show that the propulsion system can satisfy the requirement of biped robot running on water.
引用
收藏
页数：7
相关论文
共 50 条
  • [1] Dynamic Analysis of Fluid-Structure Interaction for the Biped Robot Running on Water
    Xu, Linsen
    Cao, Kai
    Wei, Xianming
    Shi, Yungao
    [J]. 2012 12TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS & VISION (ICARCV), 2012, : 1546 - 1550
  • [2] RoaDS - Robot and Dynamics Simulation for Biologically-Inspired Multi-Legged Walking Robots
    Roennau, A.
    Heppner, G.
    Klemm, S.
    Dillmann, R.
    [J]. 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2015, : 1870 - 1876
  • [3] Designing and Kinematics Analysis on Running Mechanism of Biped Robot for Water-Running
    Xu, Linsen
    Zhao, Jianghai
    Li, Bing
    Xu, Feng
    [J]. MECHANICAL AND ELECTRONICS ENGINEERING III, PTS 1-5, 2012, 130-134 : 217 - +
  • [4] Biologically inspired modular structure to control the sit-to-stand transfer of a biped robot
    Andani, M. Emadi
    Babrami, F.
    Maralani, P. Jabedar
    [J]. 2007 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-16, 2007, : 3016 - +
  • [5] On the dynamics and control of fluid-structure interaction instabilities
    Modi, VJ
    Seto, ML
    Munshi, SR
    [J]. PROCEEDINGS OF THE SEVENTH (1997) INTERNATIONAL OFFSHORE AND POLAR ENGINEERING CONFERENCE, VOL III, 1997, 1997, : 8 - 18
  • [6] Dimensional analysis in fluid-structure interaction
    de Langre, E
    [J]. HOUILLE BLANCHE-REVUE INTERNATIONALE DE L EAU, 2000, (3-4): : 14 - 18
  • [7] WING FLUTTER ANALYSIS USING COMPUTATIONAL FLUID-STRUCTURE INTERACTION DYNAMICS
    Pohly, Jeremy A.
    Zhang, Mike R.
    Zhang, Sijun
    [J]. PROCEEDINGS OF ASME 2021 FLUIDS ENGINEERING DIVISION SUMMER MEETING (FEDSM2021), VOL 1, 2021,
  • [8] Design and Kinematics Analysis of Propulsion Mechanism of Biped Robot Running on Water
    Xu Linsen
    Wei Xianming
    Cao Kai
    Luo Mingzhou
    Shi Yungao
    [J]. MECHATRONICS, ROBOTICS AND AUTOMATION, PTS 1-3, 2013, 373-375 : 265 - +
  • [9] NUMERICAL ANALYSIS OF HYDROFOIL DYNAMICS BY USING A FLUID-STRUCTURE INTERACTION APPROACH
    Rajaomazava, Tolotra Emerry, III
    Benaouicha, Mustapha
    Astolfi, Jacques-Andre
    [J]. PROCEEDINGS OF THE ASME PRESSURE VESSELS AND PIPING CONFERENCE, PVP 2012, VOL 4: FLUID-STRUCTURE INTERACTION, 2012, : 115 - 124
  • [10] Fluid-structure interaction of a flexible rotor in water
    Eldemerdash, A. S.
    Leweke, T.
    [J]. JOURNAL OF FLUIDS AND STRUCTURES, 2021, 103
12345