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

Zhang, Zhong-Yin; Shi, Liwei; Guo, Shuxiang; Yin, He; Li, Ao; Bao, Pengxiao; Liu, Meng

doi:10.1109/icma52036.2021.9512717

Cited by 4 publications

(1 citation statement)

References 17 publications

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“…The intelligent mechanism designed in this paper is different from the traditional fish-like robot, and has the motion mechanism of multi-tail cooperative propulsion. In numerous previous designs of fish-shaped robots, Adams serves as a kinematic reliability verification tool that analyzes the kinematic characteristics of mechanisms [6]- [8].…”

Section: Introductionmentioning

confidence: 99%

Structural design and mechanism verification of multi-tailed collaborative robotic fish

Huang

Cao

Xia

2022

International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022)

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This paper proposes the establishment of the kinematics and dynamics of tri-joint tails and combines with the swimming characteristics of fish and cephalopods. A bionic robotic fish with multi-tailed cooperative movement is designed to achieve faster acceleration ability and better stable swimming ability. Adams simulation is used for the kinematics analysis. The results show that the structure can realize sinusoidal swing well and there is a phase difference between joints. The swing characteristics of fish are simulated.

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Section: Introductionmentioning

confidence: 99%

Structural design and mechanism verification of multi-tailed collaborative robotic fish

Huang

Cao

Xia

2022

International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022)

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Toward a Track‐Fin Hybrid Driven Bionic Amphibious Robot: Design, Development, and Experiments

Xia,

Yin,

Zhu

et al. 2024

Journal of Field Robotics

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Amphibious robots offer promising applications in field scenarios such as search and rescue, exploration and reconnaissance, and environment monitoring. However, achieving high locomotion performance in terrestrial, aquatic, and soft muddy transition areas remains challenging. This study presents a novel amphibious robot based on the hybrid drive of tracks and bionic fins. The robot is driven by a pair of tracks on land and by a pair of undulating fins underwater, without the need for switching operating modes due to the simultaneous drive of the two components. The structure design is introduced and the united operating strategies are derived for propulsion in multiple environments propulsion. A land–water united controller for the heading angle and track/fin frequency is designed based on a mathematical model. In field experiments, the robot achieved the maximum linear velocities of 2 m/s on land and 0.51 m/s underwater, with maximum yaw rates of 225 and 100 , respectively. The robot could transition seamlessly between land and water in less than 2 s. The closed‐loop control experiments demonstrated that the robot could quickly follow the desired angle with minimal error in both media using the same controller and parameters. The proposed simultaneous drive method enhances the multi‐terrain motion capacity and cross‐medium performance while reducing control complexity of amphibious robot, providing a new perspective for the development of self‐adaptive and high‐performance amphibious robots for practical application.

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Hydrodynamic Analysis of a Novel Bionic Amphibious Spherical Robot

Liu,

Zheng,

Tang

et al. 2023

2023 IEEE International Conference on Mechatronics and Automation (ICMA)

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

Cited by 4 publications

References 17 publications

Structural design and mechanism verification of multi-tailed collaborative robotic fish

Structural design and mechanism verification of multi-tailed collaborative robotic fish

Toward a Track‐Fin Hybrid Driven Bionic Amphibious Robot: Design, Development, and Experiments

Hydrodynamic Analysis of a Novel Bionic Amphibious Spherical Robot

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