Design and Simulation of Bionic Amphibious Mother and Child Robots

In recent years, bionic amphibious robot technology has emerged in the fields of underwater exploration, marine resource development, and emergency rescue. To address the complexity of tasks in these domains, a mother-child robot system is introduced. In this paper, the structural composition of the mother and child robot is described in detail, including the functions of each component between them. Additionally, the forward kinematic model of the mother robot is established. Finally, the propulsion mechanism of the mother robot is analyzed by fluid simulation. The results show that the speed and stability of the mother robot are significantly affected by using different water jetting methods: higher speeds and enhanced stability are achieved with backward and downward water jet propulsion, while oblique downward 45° water jet exhibits efficient thrust generation. In the context of the child robot, the high vorticity generated by the propeller affects the robot's stability, requiring complex control to continuously adjust posture and speed to maintain stability.