Research On Wheel-legged Amphibious Robot

With the development of science and technology,modern warfare has basically achieved all-round monitoring and strikes by sea,land and air,but the current research and development of combat platforms for amphibious environments has not entered the actual battlefield application stage.With the shift of my country’s military strategy and the pressure of the international external environment,the amphibious combat environment will be a more common combat environment for our military in the future.In order to enhance our military’s combat capabilities in amphibious environments such as beaches and swamps,it is necessary to develop An amphibious combat platform,in order to realize the reconnaissance,monitoring and attack of the amphibious battlefield environment,the amphibious combat platform can replace humans to perform dangerous tasks,and can greatly reduce the casualties of combat personnel.Therefore,this paper designs a wheel-legged amphibious robot used in amphibious combat environment,completes the design and dynamics analysis of the overall structure of the robot,and designs several typical gaits of the robot and uses Adams for motion simulation research.First,Aiming at some problems existing in existing amphibious robots,the driving structure of the amphibious robot and the switching mode of the water and land environment are determined.Designed a new type of amphibious driving mechanism wheel-legged structure,and conducted simulation research on the obtained structure in water and on land,And the feasibility of the scheme was verified and reasonable materials were selected to fabricate the wheel-legged sample structure.Secondly,the overall mechanical structure of the robot was designed,and some thorny problems in the structure of the robot were solved,including the design of the sealing structure of the amphibious switch and the overall structure of the robot body,and finally the overall 3D model of the robot was obtained.Then,the obtained robot model was analyzed for kinematics and dynamics,including the analysis of single wheel-legged dynamics and overall dynamics,using the Castigliano’s Theorem to analyze the relationship between the stiffness of the wheel-legged and the rotation angle,and using Normalized Energy stability Margin method and the Zero Moment Point method analyze the static and dynamic stability margins of the robot.Finally,according to the kinematic characteristics of the wheel-legged robot,several typical gaits of the wheel-legged robot walking on land are designed.Adams is used to perform kinematic simulations of several gaits and several gaits when climbing and crossing obstacles.In the end,the Flex module in Adams was used to study the influence of the elasticity of the wheel-legged on the overall motion of the robot.