Research On Structural Design And Control System Of Wheeled And Propeller Reusable Amphibious Robot

With the continuous development of science and technology,more and more intelligent robots appear in people’s vision.Because of their rich functional design and stable motion characteristics,intelligent robots have gradually become the right-hand man in human production and life.Especially in recent years,countries all over the world have paid more attention to marine resources,making the amphibious robot get a wider application scene.An amphibious robot is an intelligent robot with both land and underwater motion performance.It integrates land and underwater driving devices on the same robot,enabling it to complete complex tasks in multiple environments.According to the structural characteristics of the existing amphibious robot,this paper combines the wheeled robot with the legged robot and proposes a wheel propeller reusable amphibious robot.The three-leaf fully submerged propeller is embedded inside the driving wheel to achieve the combination of the robot’s land running device and underwater running device.The amphibious robot’s land running state,and underwater linear running state The transition of underwater turning operation state and underwater vertical operation state finally realizes the flexible operation of the amphibious robot.The structure of the amphibious robot is modeled by Solidworks software,the underwater pressure of the shell of the amphibious robot is analyzed by the static stress analysis module,and the running stability of the amphibious robot is analyzed by the Motion motion analysis module.In this paper,Ansys fluid simulation software is used to compare and analyze the shape and size parameters of the waterproof shell of the amphibious robot and determine the streamlined elliptical shell with small fluid resistance and its size parameters.The thrust of the propeller is also simulated by the method of multiple reference frames.Through the pressure cloud,velocity cloud,and velocity rendering,the thrust of the propeller rotation is determined,and the structural characteristics of the driving wheel are obtained.The amphibious robot proposed in this paper uses Arduino Mega 2560 as the main controller,selects a waterproof brushless motor as the driving device,matches with the steering gear control panel,attitude displacement sensor and Bluetooth transmission module to form the control system of the amphibious robot,and transmits data through serial port,ⅡC and other communication protocols,finally completing the motion control of the amphibious robot and collecting relevant data.Finally,this paper has carried out relevant experiments on the motion performance of the amphibious robot.Through several experiments,it has been proved that the amphibious robot proposed in this paper can operate stably in different land environments and underwater environments,verified the relevant conclusions of fluid simulation and also proved that the PID algorithm used in the control system can improve the anti-interference ability of the robot.