Design and Performance Analysis of a Triphibious Robot With Tilting-Rotor Structure

Abstract

Triphibious robots can move in more complex environment compared with common mobile robots, which makes the triphibious robots have a wider movement space and better environmental adaptability. This paper proposes an innovative design solution of a triphibious robot with the tilting-rotor structure (TR-TRS), which can change its motion mode to perform smoothly transition between different media, such as land, water, and air. First, the mechanical structure of the triphibious robot is described with design diagrams. Two tilting-rotors are mounted on the left and right side of a quadrotor-like aerial platform, in which four legs with passive wheel are integrated to make the triphibious robot move on land. Tiltingrotor structure is used to change the orientation of the rotors on both sides of the robot's fuselage, thus, through adjusting the orientation of these two rotors they can drive the triphibious robot to move on land and underwater. Next, according to the mechanical design, the motion modes in different environmental media are given, and the transition methods between different motion modes are explained in detail. Finally, the influence of tilting-rotor structure on the performance of the designed triphibious robot is analyzed and discussed by the results of virtual simulation. The superior performance of tilting-rotor structure in triphibious robots is demonstrated through the comparison of existing robots. INDEX TERMSTriphibious robots, structure design, tilting rotor, performance analysis.

Adaptive integral backstepping control of a reconfigurable quadrotor with variable parameters’ estimation

“…Theorem. Closed-loop of sub-system (8) using adaptive controller (11) and adaption laws ( 13) is asymptotically stable.…”

“…In order to ensure the Lyapunov stability and verify condition (21), the adaptive controller can be expressed by equation (11).…”

“…To actuate its arm-wing, cranks and gear mechanisms were used. In the article, 11 a new design of a triphibious reconfigurable UAV, which can tilt its rotors, was developed. This design is based on the classic quadrotor structure.…”

Active fault-tolerant anti-input saturation control of a cross-domain robot based on a human decision search algorithm and RBFNN

“…Furthermore, with the advancements in rotorcraft unmanned aerial vehicle (UAV) technology, researchers have started exploring the potential of integrating rotorcraft UAVs with wheeled mobile robots (WMRs) (Wang et al, 2019a). To enhance the capabilities of robots, cross-domain robots (CDRs) have been designed, which are capable of operating in multiple environments, including water, land, and air (Guo et al, 2019;Zhong et al, 2021). The robot presented in this paper is a CDR that combines a quadrotor UAV with a WMR equipped with webbed plates.…”

Adaptive ground and water surface control for cross-domain robots based on adaptive finite-time convergence sliding mode observer

“…In recent years, robots capable of working in multiple environments have received attention from researchers [1] . In the literatures [2,3], land-air robots with reconfiguration capabilities are proposed, which change the robot's structure depending on the environments.…”