Overall Design And Hydrodynamic Performance Research Of Web-Foot Propelled Surface Robot

The process of bionomics is the process by which humans reconstruct their understanding of the shape,structure and principles of organisms that already exist in nature.The amphibians of the off-set cone class combine the aquatic traits of fish with the terrestrial traits of newborns,such as earthworms and frogs,while mudskippers,snakes and geese,which are not amphibians but can move flexibly between land and water to feed,are good natural models for designing the robots studied in this paper.This paper analyses amphibian locomotion in conjunction with existing amphibian robots to design a new webbed-footed amphibian robot.The web-footed propelled surface robot described in this paper is a combination of a highly mobile bionic propelled surface unmanned boat and a land-based quadruped robot,capable of detecting complex environments on land,on the surface and underwater.It has the advantages of low noise,strong land and water migration capability,and adopts a full-knee layout for easy installation and maintenance.It overcomes the problems of traditional amphibious robots with limited efficiency in crossing obstacles and weak resistance to wave impact,and improves detection stability and efficiency.Firstly,this paper analyses the movement of amphibians combined with existing amphibian robots,designs the robot propulsion mechanism required for this paper,and uses modular design ideas to complete the overall design,important module design and performance analysis of the webbed foot propulsion surface robot through CFD numerical simulation combined with the motion characteristics of the robot.The virtual assembly of the robot was carried out,and the hydrodynamic shell was calculated and checked for equilibrium.Secondly,the motion characteristics of the webbed surface of the single webbed foot of the robot are analysed in conjunction with the laws of biological motion,and a set of numerical calculation methods applicable to webbed foot hydrodynamics is proposed to complete the numerical simulation of the webbed surface of the single webbed foot of the webbed propulsion water surface robot.Based on the viscous flow theory,an overlapping mesh combined with a dynamic mesh is used to study the hydrodynamic characteristics of the webbed surface of the webbed-foot robot under different webbing surface deployment angles and different motion modes.The variation of the hydrodynamic parameters with the webbing surface is quantified and the optimal webbing surface shape for the robot is determined.By analysing the pressure and velocity fields of the web-footed robot,the distribution of pressure on the web surface of the web-footed propulsion robot is clarified,and the idea of optimising the hydrodynamic design of the web-footed robot is provided.Finally,the kinematic model of the robot is established,and the kinematic simulation is carried out based on the simplified model of the robot on land using MSC ADAMS simulation software,and the kinematic analysis of the webfoot propelled surface robot is carried out using diagonal gait.The kinematic analysis of the webbed-footed propelled surface robot was carried out using diagonal gait.This laid the foundation for future prototyping and experimental analysis of the webbed-footed robot.