Research of abbreviated amphibious robot mechanism and system

This paper presents a unique wheel-oar metamorphic propulsive device, which is based on the existent general wheel propulsive device on land and oar propulsive device under water in order to adapt both land and water environments. Meanwhile, the configurations analysis is given. With hydraulics analysis optimized parameters of the mechanism. Then the control system, communication platform and sensing system of the amphibious robot are established. Some function testing about the robot prototype is made on land and under water. The, experimental result demonstrates that the amphibious robot has good maneuverability and adoptability in different working environments.