Design and simulation analysis on underwater robots like reptiles

摘要

Abstract In order to clean up debris with a certain depth of water and a stepped section, an underwater mobile robot with four legs walking was designed. Used the engineering method to calculate the force of the robot roller cutter, and the step of one motion cycle is calculated by the geometric relationship of the robot travel mechanism. The hydrodynamics simulation was carried out using simulation analysis. The results show that the maximum horizontal displacement of a robot during a motion cycle is 0.45m; the buoyancy water tank is more buoyant than gravity when it is waterless; the local maximum stress and displacement of the drum cutter and the main frame meet the working requirements; the corresponding hydraulic cylinder provides more driving force than the hydraulic cylinder resistance. This four-foot dredging robot can provide reference for the underwater motion of the multi-foot underwater robot and its water resistance analysis.