Design And Movement Performance Of A Wheel-Propeller Amphibious Robot

At present,the most serious problems at home and abroad are energy shortages and environmental pollution.Therefore,humans have invested heavily in the development and utilization of new energy.However,in the process of energy development and utilization,many tasks cannot be accomplished by humans,including many shallow seas.Therefore,amphibious robots are now called a research hotspot.Ordinary robots generally can only move in a single environment of land or water flow and cannot achieve amphibious movement.Therefore,it is important to design and research an amphibious robot capable of working not only on land but also in water.In this paper,the existing amphibious robots are classified and researched.The characteristics and problems of the existing wheeled amphibious robots are summarized.A new wheeled amphibious robot design scheme is proposed for the existing problems.A wheeled paddle integrated amphibious robot,the robot can work under the amphibious environment,through the movement switching mechanism to achieve the movement in two environments,while achieving the wheel retractable function,in order to reduce the amphibious robot caused by the wheel mechanism in the water The resistance of the vehicle to the drag reduction of the amphibious robot when moving in water.The specific work of this article is as follows:(1)According to the different walking patterns,the introduction and analysis of typical amphibious robots at home and abroad are carried out,and the research and analysis of the wheeled amphibious robots involved in this paper are focused.Different types of wheeled amphibious robots in water are classified into different types by water jet propulsion,propeller propulsion,and water-pumping propulsion.The advantages and disadvantages of the three types of wheeled amphibious robots are summarized,and they are guided by paddle-type amphibious robots.This leads to the research background and research content of this article.(2)Referring to the ship theory,the traction resistance component of the amphibious robot in the water is analyzed.It is pointed out that it is necessary to reduce the shape resistance of the amphibious robot in the process of running,and then put forward the design scheme.The working principle and implementation method of the wheel paddle integrated walking mechanism and wheel retractable mechanism studied in this paper are given,which provides the basis for the follow-up car body design and sports performance research.(3)The optimal design of the car body.The design of the front,rear and cross-section profiles of the robot is selected.The parameters of the robot diversion angle and aspect ratio parameters are optimized using the Latin hypercube method.The tail profile is selected by simulating the rear wake vortex and finally determined.The specific structural parameters of the robot.(4)According to the specific structural parameters of the robot,a robot motion model is constructed based on the kinematics knowledge of the robot,and the robot is subjected to motion analysis in the land and sea environment.Firstly,the anti-rollover performance of the robot in climbing and slope movements in the terrestrial environment is analyzed.Then,the change laws of the buoyancy center and center of gravity of the amphibious robot when heeling occurs in the water are mainly described to verify the stability of the water during the movement in the water.(5)Using the Fluent software,the amphibious robot was simulated before and after the wheel was retracted to verify the effectiveness of the mechanism to reduce drag and increase speed during water sports.Firstly,the solution process and fluid dynamics control equations of Fluent fluid software are briefly introduced.Then the water vapor two-phase flow VOF model adopted in this paper is theoretically analyzed and constructed.After the simulation was completed,by comparing the distribution of water vapor before and after the wheel was retracted at different water flow rates,the static pressure,dynamic pressure,and velocity vector changes on the surface of the vehicle body were verified to verify the effectiveness of the wheel retractable mechanism.(6)The article summarizes the research content and existing problems of the amphibious robot designed in this paper and looks forward to the robot.