Characteristic Evaluations For An Amphibious Spherical Robot

The amphibious spherical robot of this thesis is a kind of underwater robots.It can not only walk on land but also move in the water to achieve the horizontal direction movement,rotation motion,diving and surfacing movement.Considering the stability of the robot,we used symmetrical design.In order to make sure the robot can complete the detection,monitoring,collection and other tasks in some relatively narrow natural water,the robot used a smaller body size.In order to capture some samples and transmit video information,the robot is equipped with two mechanical arms and one video module.Meanwhile,the robot used four DC motors to reduce the noise.The robot can carry out some micro robot to achieve some specific tasks.Large internal space also protected more lasting endurance.Therefore,the amphibious robot has broad application space and research value.The spherical amphibious robot consists of a spherical shell,an acrylic disc,a video module,two mechanical arms,four promote system and control unit.In this robot,the propulsion system includes a water jet propulsion and two servo motors.The thrust of the engine is adjusted by using the method of vector jet propulsion.The land gait and walking speed can be changed by adjusting PWM duty and gait sequence of each driving leg.The main control unit of the spherical robot is AVR(Atmega 2560).The slaver controller is an Arduino development board,which is a kind of ARM(STM32f103RE)kernel.The robot is controlled by changing controller's PWM duty.In this paper,we analyzed and optimized the control system and mechanical structure of the robot.We designed the control circuit and the control unit of the spherical amphibious robot,and discussed the operating characteristics of the spherical amphibious robot.We focused on the characteristic evaluations of the spherical amphibious robot,including the characteristic evaluations of the land and water.Land property evaluations include gait,load,climbing,crawling;water performance evaluation mainly includes forward and backward motion,situ rotation movement,floating and diving movement and underwater video transmission.The evaluations of the spherical amphibious robot's performance fully validate the robot's basic indexes which lay the theoretical foundation and realistic foundation for the further development and research.