TY - GEN
T1 - A small intelligent amphibious robot
T2 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
AU - Fu, Haiming
AU - Fu, Yanan
AU - Liu, Tianliang
AU - Xu, Wenfu
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - Compared with traditional robots, amphibious robots can move and work in a variety of different environment conditions. This is very important for complex tasks, such as resource exploration, payload transport, life rescue, and so on. In this paper, a small intelligent amphibious robot is developed and experimented. It has two main movement modes: Car-like movement on the land and boat-like movement on the water. This amphibious robot is composed of mechanical sub-system, electrical sub-system and sensor sub-system. The mechanical part is designed based on a crank rocker mechanism. Combined with gear and belt transmission, two movement modes can be changed by a mechanical switch. To analyze the mobility, the kinematics equation is derived using algebraic method. Furthermore, the dynamics model is created using ADAMS software. The drive performances, including the forces and torques, are analyzed through mathematical simulation. Voice sensor, wireless module and infrared sensor are mounted on the robot. The embedded controller is developed to realize the automatic obstacle avoidance. The robot can be controlled by voice, heat source and remote-control device. Finally, the prototype is fabricated. Based on the developed prototype, typical experiments are conducted. The results verified the functions and performance of the developed robot.
AB - Compared with traditional robots, amphibious robots can move and work in a variety of different environment conditions. This is very important for complex tasks, such as resource exploration, payload transport, life rescue, and so on. In this paper, a small intelligent amphibious robot is developed and experimented. It has two main movement modes: Car-like movement on the land and boat-like movement on the water. This amphibious robot is composed of mechanical sub-system, electrical sub-system and sensor sub-system. The mechanical part is designed based on a crank rocker mechanism. Combined with gear and belt transmission, two movement modes can be changed by a mechanical switch. To analyze the mobility, the kinematics equation is derived using algebraic method. Furthermore, the dynamics model is created using ADAMS software. The drive performances, including the forces and torques, are analyzed through mathematical simulation. Voice sensor, wireless module and infrared sensor are mounted on the robot. The embedded controller is developed to realize the automatic obstacle avoidance. The robot can be controlled by voice, heat source and remote-control device. Finally, the prototype is fabricated. Based on the developed prototype, typical experiments are conducted. The results verified the functions and performance of the developed robot.
KW - Amphibious robots
KW - Mobile robots
KW - Modelling and control
KW - Small intelligent robots
UR - https://www.scopus.com/pages/publications/85062535486
U2 - 10.1109/RCAR.2018.8621631
DO - 10.1109/RCAR.2018.8621631
M3 - 会议稿件
AN - SCOPUS:85062535486
T3 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
SP - 78
EP - 83
BT - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 1 August 2018 through 5 August 2018
ER -