Mechanism Design and Kinematics Simulation of a Snake-like Amphibious Mother-Daughter Robot with Blended-Oar-Body

Abstract

To meet the requirements of robot's bionic expansion, multimode locomotion and multi-daughter collaboration, the mechanism design of a new kind of amphibious robot is presented. The swimming modes of snake and jellyfish are combined in the robot design. Furthermore, referring to the principles of blended-wing-body, oar pulling and tail cutting escape way of a house lizard, this design uses some new design concepts like blended-oar-body, hinged oar and motherdaughter separable body other than the traditional designs of wheel, propeller and fin leg. To verify the design, the daughter part, the joint part and the separable part of the robot are all developed. With the mathematical models of each motion mechanism, the rationality and feasibility of the robot parts' motion mechanism designs are finally proved by UG motion simulation, MATLAB numerical analysis and the test experiments.