PSpHT-II: a water strider-like robot with cylindrical footpad

Gan, Vi Vi and Niirmel, Ranjanendran and Siti Noor Zuliana and Addie Irawan, Hashim (2018) PSpHT-II: a water strider-like robot with cylindrical footpad. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018. Lecture Notes in Electrical Engineering, 538 . Springer Singapore, Singapore, pp. 99-112. ISBN 978-981-13-3708-6

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Abstract

Water strider or Gerridae is very lightweight insect and has a long leg that able to stand and even jump on the surface of water surface tension. Mimicking this creature become one of the favorable areas in the bioinspired robotics field. A Portable Striding pH Tester (PSpHT) is one of the robotics systems that mimick-ing water strider with quadruped mechanism. The first PSpHT design had successfully operated with real-time pH monitoring, and long-haul remotely control. However, weakness in its footpad still existed when the rapid spatial motions were not making PSpHT faster enough on the water surface. Therefore this paper presents the improvement progress on PSpHT and introducing its second version named PSpHT-II. In this progress, a new footpad with light cylindrical shape is proposed by considering the water surface tension. The polypropylenebased footpad hold with light aluminum alloy as a link of the spatial leg and the flat plate was added as the paddler on each side of the footpad as water surface breaker. The leg design is recalculating and fabricated regarding the Archimedes principle and surface tension theory by considering the balance forces between the air and water. According to the calculations and buoyed test, the proposed cylindrical footpad is less submerged compares to the previous footpads designed. On the other hand, the proposed spatial motion was simulated for verification. As for validation, PSpHT-II was validated by running the system on the lakeside of Universiti Malaysia Pahang, Pekan, Pahang Campus. The experiment shows the additional paddlers help PSpHT-II striding faster and stable although with a mild and windy situation.

Item Type:	Book Chapter
Additional Information:	Indexed by Springer
Uncontrolled Keywords:	Water strider; Cylindrical footpad; Spatial striding gait pattern
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division:	Faculty of Electrical & Electronic Engineering
Depositing User:	Pn. Hazlinda Abd Rahman
Date Deposited:	24 Dec 2018 07:43
Last Modified:	07 Sep 2020 08:38
URI:	http://umpir.ump.edu.my/id/eprint/22942
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