Mechanism Design, Kinematic and Hydrodynamic Simulation of a Wave-driven Amphibious Bionic Robot

Abstract

Amphibious robots has been a hot research direction. They can not only save cost, but also improve the efficiency of kinds of jobs and cope with various complex environments. Compared with the common multi-steering gear oscillating fins robot, this paper uses the 30 degrees of the opposite angle of the 12 groups, which can produce the fish fins of a similar function. The 12 drivers are connected to the 12 units of the lever, which can be driven by a single steering machine. The existing amphibious robots are mostly used by several steering gear to drive the fins, the structure redundancy and the control circuits are complex, and most of them are steering the direction of the rudder, which needs to be designed to turn to the body. Therefore, the fin components on both sides of this robot are driven by a corresponding steering machine, which is used to achieve acceleration and turn, and the adjustment mechanism of the fish fin is set up to realize the transformation of amphibians. Using Adams to simulate the motion of the rocker, the acceleration curve on the component is obtained. The corresponding speed and pressure curves were obtained by using fluent to simulate the fish fins of different phase angles. The research results are of great significance to the design and control of multi-modal motion in the next generation flexible underwater navigation and robot.