Mechanical Modeling And Simulation Analysis Of Amphibious Hexapod Robot

In today’s world,the role and value of the ocean in the international arena are increasingly increasing,becoming an important field for countries to play games in.A series of advantages of robots can ensure that they play an important role in ocean exploration and utilization,and can assist or replace humans in completing many tasks that humans cannot complete.Amphibious robots can effectively connect the two working environments of water and land,while achieving the functions of both water and land robots.Hexapod robots have better stability and terrain adaptability compared to quadruped robots,so studying the application of amphibious robots in the field of robotics has profound and important significance.Firstly,a new type of amphibious hexapod robot is proposed,and its structure and some parameters are calculated and explained;The forward and inverse kinematics of the robot are modeled,and the relationship between the leg parameters and the corresponding conversion matrix are derived.The forward and inverse kinematics models are verified in Matlab,and the correctness of the forward and inverse kinematics models is verified.Secondly,based on the Newton Euler method method,the dynamic analysis of the robot leg is carried out,and the dynamic theoretical model under the land environment is obtained,and the foot ground mechanical model of the robot’s flexible foot end contacting with soft ground and hard ground is established;Through ADAMS simulation experiments,the variation curves of the robot’s center of mass position and foot normal force,angular velocity variation curve,as well as the variation curves of pitch angle,roll angle,and yaw angle were obtained.After comparison,the correctness of the foot mechanics model and dynamics model was verified,proving that the robot has good stability during walking;Conduct stress intensity analysis on the robot’s load and self weight working conditions,and the simulation results show that the strength and stress of the human structure meet the requirements during operation,and there will be no structural damage such as fracture.Thirdly,based on the Morrison formula and turbulence model,the resistance and flow situation of the robot in underwater were analyzed and derived.Subsequently,underwater environment simulation was conducted in FLUENT to obtain the flow field and resistance data of the robot at different relative speeds in the underwater environment.This provides guidance for subsequent sample machine construction and robot underwater design.The resistance obtained in FLUENT was used to The pressure and other data were combined with the static structure analysis module through ANSYS Workbench to conduct fluid structure coupling analysis,and the stress intensity of the robot in the underwater environment was obtained.It was verified that the robot structure can work normally in the underwater environment without structural damage.Finally,a prototype test platform for an amphibious hexapod robot was built,and walking tests were conducted on the robot in different terrains.The data collected by sensors were compared with theoretical and simulation results to verify the robot’s walking ability and terrain adaptability in different terrains.