Abstract
In this study, a portable magnetic adsorption amphibious robot which can operate on and below the waterline is developed for special curved environments, such as the pile legs of offshore platforms and the outer walls of ships. An open robot integrated control system based on a domestic chip is developed, and two operating modes of local control operation and remote wireless operation are realized. A permanent magnet adsorption scheme combining a magnetic adsorption track and a synchronous belt wheel is designed, static and dynamic analysis of the wall-climbing operation of the robot is carried out, and a kinematic model of the underwater robot is established. The experimental results show that the robot can effectively complete amphibious tasks and can realize the accurate control of attitude in water, proving it to be an effective tool for amphibious tasks, such as operating on the pile legs of offshore platforms and the outer walls of ships.
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