Design and Kinematics Model of Autonomous Wheel-Claw Reconfigurable Amphibious Robot

Abstract In order to improve the adaptability of traditional wheeled robots complex environments, a passive wheel-claw reconfigurable amphibious robot is proposed in this paper. This has strong mobility when moving on ground. scenes, if there are obstacles, it will automatically switch claw mode. By studying motion mechanism reconstruction process, kinematics model under multiple working conditions established by using coordinate transformation method, and process analysed detail. Based virtual prototype Adams, dynamic simulation flat ground obstacle crossing carried out, mathematical verified. The results provide theoretical data basis for actual design robot. experimental platform show that designed wheel ability work scenes.