Abstract
The key motions of land and water are analyzed for a designed amphibious carrier robot. On land, based on the characteristics of the multi-joint crawler, the robot has planned two gaits for climbing steps on land. The kinematic models of climbing steps and climbing steps are established for the two planned gaits, and the maximum height that the robot can climb steps is obtained based, Based on the laws of dynamics, the stability equation of the robot under strong transient impact is established to obtain the conditions for the robot to maintain its own stability when the robot is under strong transient impact during traveling, which provides a theoretical basis for the attitude control of the robot arm. In the water, the fluid numerical method is used to simulate the underwater motion of the robot's swing arm in the extended and retracted state, obtain the traveling resistance and surface pressure of the robot's swing arm crawler in the two states, analyze the relationship between the robot's traveling resistance and speed, obtain the relationship expression between the robot's traveling resistance and the traveling speed, and provide data support of the state selection and speed setting of the robot's underwater crawler.
Highlights
The key motions of land and water are analyzed for a designed amphibious carrier robot
The ki⁃ nematic models of climbing steps and climbing steps are established for the two planned gaits, and the maximum height that the robot can climb steps is obtained based, Based on the laws of dynamics, the stability equation of the robot under strong transient impact is established to obtain the conditions for the robot to maintain its own stability when the robot is under strong transient impact during traveling, which provides a theoretical basis for the attitude control of the robot arm
The fluid numerical method is used to simulate the underwater motion of the robot′s swing arm in the extended and retracted state, obtain the traveling resistance and surface pressure of the ro⁃ bot′s swing arm crawler in the two states, analyze the relationship between the robot′ s traveling resistance and speed, obtain the relationship expression between the robot′s traveling resistance and the traveling speed, and pro⁃ vide data support of the state selection and speed setting of the robot′s underwater crawler
Summary
Re( θ1,θ2) = [Lcosθ2 + L1cos(θ2 + θ1) + R - Rsinθ2] 2 + [Lsinθ2 + L1sin(θ2 + θ1) + R - Rcosθ2] 2 2[Lcosθ2 + L1cos(θ2 + θ1) + R - Rsinθ2] 机器人翻越高度模型如下 ìïïmax Z = H( θ1,θ3) ís.t - π / 2 ≤ θ1 ≤ π / 2 îïï - π / 2 ≤ θ2 ≤ π / 2
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