Design And Simulation Of Driving System For Amphibious Robot In Complex Span Domains Environment

The earth space of human existence is divided into three areas: waters,land area and airspace,where these areas have not yet been developed,the environment is often complex and unpredictable,in which,the detection,search,rescue and other activities need the help of manned or unmanned robots.For a robot which activities on a single domain,it can only be applied to a fixed domain.If people want to activity in multiple domains,must match several robots,which will increase the cost investment and result in waste of resources.The amphibious robot developed in this dissertation can solve the above problems well and realize multiple functions with one machine,which can adapt to three environments: water are,soft and muddy road between water area and land area,complex and unstructured road(involving obstacles,gullies,steep slopes and uneven roads)on land,and then execute task for detection,search,rescue and so on in these environments.The action system,as the key component of amphibious robot in the complex cross domain environment,plays a decisive role in the ability,adaptability and task execution efficiency of amphibious robot in the above three environments.In this dissertation,a combined action system of track type and propeller type is proposed,and the related design,calculation and simulation of the combined action system are carried out.First of all,the parametric design method of the track action system is carried out,the constraint equation is established,and a set of reasonable track layout parameters is determined;According to the requirement of underwater freedom of amphibious robot,the propeller layout of propeller propulsion action system is carried out.Secondly,the force analysis of the action system of the track is carried out,and the torque and power required by the track under the conditions of acceleration,climbing and spin turning are calculated,and then the drive motor is selected;the rigid body dynamics simulation is carried out under various working conditions based on Recur Dyn multi-body dynamics software,and the torque under various working conditions is obtained,which is compared with the theoretical calculation value,the simulation results show that the theoretical calculation value is accurate.Thirdly,according to the track layout parameters,the detailed structural design of the land track action system is carried out.During the design process,the weight reduction design of the track side plate is carried out.In order to verify whether the weight reduction design of the side plate meets the strength requirements,a 500 mm static drop rigid flexible coupling simulation analysis is carried out by using Recur Dyn multi-body dynamics software.Finally,the kinematics equation of the amphibious robot under water is deduced,the force of the amphibious robot under water is analyzed,and the dynamic model of the underwater navigation is obtained.The water resistance coefficient of each degree freedom of the amphibious robot in the direct navigation state is obtained based on XFlow fluid simulation software,and the parts that affect the underwater resistance coefficient are analyzed and optimized through the underwater simulation,after shape optimization,the resistance of amphibious robot under water is reduced.