Design and Kinematics Model of Autonomous Wheel-Claw Reconfigurable Amphibious Robot

Abstract

Abstract In order to improve the adaptability of traditional wheeled robots to complex environments, a passive wheel-claw reconfigurable amphibious robot is proposed in this paper. This robot has strong mobility when moving on the ground. In complex scenes, if there are obstacles, it will automatically switch to claw mode. By studying the motion mechanism of the wheel-claw reconstruction process, the kinematics model of the robot under multiple working conditions is established by using the coordinate transformation method, and the wheel-claw transformation process is analysed in detail. Based on the virtual prototype of Adams, the dynamic simulation under the conditions of flat ground and obstacle crossing is carried out, the established dynamic mathematical model is verified. The simulation results provide theoretical data basis for the actual design of the robot. The experimental results of the prototype platform show that the designed passive wheel claw robot has the ability to work in complex scenes.