Structure design of a novel self-adaptive climbing mechanism for the amphibious bionic robot

Abstract

In this paper, an amphibious robot compounded with wheel and fin is proposed which integrated two propulsive motions with land walking and underwater swimming. The robot also has the ability of self-adaptive climbing in the complex environment, i.e. the robot moves forward on land with the paddles wheels on the ground and turns the rockers upward for climbing the obstacle. The structure of the robot is designed and the principle of the self-adaptive climbing mechanism is described. The performance of obstacle crossing is analyzed. The process of self-adaptive climbing of the amphibious robot is simulated by using the ADAMS. Finally, the experimental prototype is developed and tested.