Research Of The Deformable Amphibious Sphrical Robot

In recent years, frequent disasters, accidents and terrorist incidents caused huge casualties and property losses. When there are rivers, ravines and walls in the ruins, common robots couldn't quickly cut into the area to take operations because of the huge volume and poor flexibility, which delayed the precious rescue time.The aim of this project is to develop a throwable amphibious robot for searching and rescuing reconnaissance. It can be thrown by rescuers or dropped into disaster area in the form of a group by aircraft. When there is a river in the environment, the robot can use its structure to go through, can carry on the remote control by the operator. In the future, a group of the robots can realize cooperation with each other by using the wireless network platform.This paper is organized as followings:First of all, we designed a throwable and variable structure amphibious robot according to the application environment, which is composed of two modular driving parts, a retractable connection part and an unlocking mechanism that can realize the deformation from spherical structure to four wheels' structure. The spherical structure which have good seismic performance is convenient for rescue personnel to carry. With the flexible mobility that the four wheel structure is able to search survivors in the ruins where the environment is narrow and low.Secondly, the impact of the robot is simulated by the simulation software. The stress and deformation of the robot are obtained. The simulation analysis of the key part is carried out.The deformation and the force relationship curve of the key part is also obtained. The rationality of the mechanism design and the validity of the impact resistance are demonstrated.The kinematics model of the four wheeled vehicle structure based on the front and rear body of the robot is established. The trajectory of the robot is planned, and the average value of the tracking error is calculated. Through the analysis of the average error curve, the robot's flexibility is verified, which lays a foundation for the robot control.The dynamic model of the robot's motion is established by using the Newton Euler method, and the dynamic equation is calculated. At the same time, the dynamic analysis of the rear body obstacle crossing under the limit condition of motor's driving torque, and provides a theoretical basis for the selection of the motor and optimization of the structure.Finally, the ground experimental results show that the structure of the robot is effective and practical to resist impact, and the feasibility of the amphibious structure is proved through the water experiment.