Structural Design and Research of Amphibious Robot with Wheel and Propeller

Abstract

With the development of an intelligent unmanned working platform, the design of amphibious robots has gradually become the focus of research in the field of automatic control. An amphibious robot is a multifunctional robot with both land movement ability and underwater movement ability. This paper combines the various characteristics of the wheeled robot and the legged robot at the present stage, so that the amphibious robot has motion speed and multiple degrees of freedom at the same time, and compares and selects the shape and length-width ratio of the robot’s shell. This paper designs a dual-purpose driving module, which installs the land driving device and underwater driving device together to save structural space. Using the waterproof brushless motor as the power take-off device of the module can ensure the efficient operation of the module. The most suitable shell shape and proportion are selected by ANSYS hydrodynamics simulation software, and the thrust characteristics of the underwater driving device are obtained. In addition, a state switching device composed of the steering gear is designed, and experiments show that the device can increase the motion freedom of amphibious robots.