Hydrodynamic Analysis of a Novel Bionic Amphibious Spherical Robot

Hydrodynamic analysis is essential for underwater vehicles. This paper presents a novel bionic Amphibious Spherical Robot (ASR). The ASR can detect environments and search targets in amphibious environments, making it easier for humans to explore unknown environments safely and effectively. First, the ASR proposed in this paper has a bionic turtle structure with a spherical shell that can resist greater pressure and a bionic amphibious movement mode. Then, the electronic control system of the ASR is introduced to ensure reasonable control. The kinematic analysis of the water-jet motor is used to verify the motion mode and performance of the ASR in an amphibious environment. Finally, the adaptability of the ASR in underwater motion is verified through fluid simulation experiments. The experimental results show that the ASR has a better performance on underwater motion, which allows proposed robot to move reliably and stably.