2A1-F15 Development and Modeling of Double Spiral Propulsion Robot in Wetlands

Abstract

The structure, walking procedure and kinematic model of a double spiral propulsion robot suitable to move in wetlands are addressed in this paper. Environmental protection has been people's concerns for a long time. The reduction of wetlands' area is becoming one of the most important environmental conservation concerns and investigation of current state of wetland is urgent by now. The most significant challenges to the field surveys focus on the development of locomotion mechanism, which can carry measurement devices in wetland without suppressing damages to the vegetations and do not sink in mud. Spiral propulsion robot is proposed in this paper, which can move forward between gaps of plants and cause very little damage to the plants. Kinematic model and structure of the robot are presented. The simulation is also carried out and the result shown that the manipulator can move as expected.