Research on the water and land motion performance of an amphibious vehicle

The key motions of land and water are analyzed for a designed amphibious carrier robot. On land, based on the characteristics multi-joint crawler, robot has planned two gaits climbing steps land. kinematic models established gaits, maximum height that can climb is obtained based, Based laws dynamics, stability equation under strong transient impact to obtain conditions maintain its own when during traveling, which provides theoretical basis attitude control arm. In water, fluid numerical method used simulate underwater motion robot's swing arm in extended retracted state, traveling resistance surface pressure crawler states, analyze relationship between speed, expression provide data support state selection speed setting crawler.