Optimal Design and Motion Performance Analysis for the Novel Compound Amphibious Robot

Abstract

To improve the motion performance of the amphibious bionic robot, this paper combines the advantages of bionic propulsion mechanism and traditional p(ropulsion mechanism, and designs an amphibious robot with fast propulsion speed, strong environmental adaptability and high motion stability. It compounds with the wheel, undulatory fin, and propeller. Firstly, the present study analyses the kinetics of the undulatory fin propulsion and propeller propulsion based on the theory of fluid mechanics and flow resistance, and omnidirectional wheel steering characteristics. The mechanism of the robot’s thrust generation is known, which lays the foundation for the structural design. Then, through the analysis of the motion characteristics of the robot, the amphibious robot can realize turning in situ, ascending, descending and Land-Water transition by single or multiple propulsion. Finally, the experimental results show the robot has a maximum speed of 6.54 m/s on land and 1.1 m/s underwater and can pass through various scenarios such as vertical walls, sandy roads, gravel roads, grass, 25° ramps, and transitions between land and water. This type of robot has excellent performance and environmental adaptability, and can be used in the fields of resource detection and information collection in offshore areas, providing new ideas for the design of future amphibious robots.