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Kinematics modeling and simulation for an amphibious robot: Design and implementation

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4 Author(s)
Rui Ding ; Key Laboratory of Complex Systems and Intelligence Science Institute of Automation, Chinese Academy of Sciences Beijing 100190, China ; Junzhi Yu ; Qinghai Yang ; Min Tan

Aiming at the problems of optimization design of propulsive mechanism and motion control for an amphibious robot capable of multimode motion, a kinematics model is established by Solidworks and imported into ADAMS to form a virtual prototype. An accurate simulation can facilitate designer find hidden errors and gain insights into the kinematics of an amphibious robot. The abilities of straight-going, turning and slope climbing on land are then fulfilled and tested in ADAMS. The concrete steps are also introduced, accompanied by the corresponding analyses. The simulation results are close to the truth and can reflect actual kinematic characteristic of amphibious robot, which confirms the validity of the model.

Published in:

2009 IEEE International Conference on Automation and Logistics

Date of Conference:

5-7 Aug. 2009