The Design of Wheel-Propeller Amphibious Robot and the Research of its Control System

Abstract:

This paper proposes a novel wheel-propeller amphibious robot which has unique drive devices, and its operating environments are complex. The robot can realize both crawling locomotion on the ground and swimming locomotion in the water without changing its driving devices. To fulfill a high requirements of control, a control system consist of shore-based control PC, amphibious robot carrier and wireless transmission system is introduced. The control command is generated by the shore-based control PC, and the command transmitted to DSP minimum in carrier through wireless transmission system. Lastly, a distributed control system based on CAN is realized. The whole control system has a strong ability of adapting to different environments and with a high flexibility. The control system can applied on wheel-propeller amphibious robot to realize stable control.

• Periodical: Applied Mechanics and Materials (Volumes 602-605)
• Pages: 1407-1410
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.602-605.1407
• Online since: August 2014
• Authors: Zi Yue Wu*, Jie Qi, Kang Gao
• Keywords: Amphibious Robot, Control System, Structure, Wheel-Propeller

References

[1] YANG yang. Amphibious robot mechanism: China, 101028786A. [p]. 2007-9-5.

[2] Jiancheng Yu, Yuangui TANG , Xueqiang ZHANG, Chongjie LIU, Design of a Wheel-Propeller-Leg Integrated Amphibious Robot, 2010 11th Int. Conf. Control, Automation, Robotics and Vision Singapore, 7-10th December (2010).

DOI: 10.1109/icarcv.2010.5707341

[3] Wu, Zi Yue, Qi Jie, Zhang Shuai. Amphibious robots: A review. Current Development of Mechanical Engineering and Energy, Applied Mechanics and Materials, v 494-495, pp.1036-1041, (2014).

DOI: 10.4028/www.scientific.net/amm.494-495.1036

[4] Wu, Zi Yue, Qi Jie, Zhang Shuai. Design of a wheel-propeller integrated amphibious robot and hydrodynamic analysis, Information Technology for Manufacturing Systems IV, Applied Mechanics and Materials, v 421, pp.50-55, (2013).

DOI: 10.4028/www.scientific.net/amm.421.50

[5] Richard Harkins, Jason Ward and Ravi Vaidyanathan, Design of an Autonomous Amphibious Robot for Surf Zone Operations: Part II - Hardware, Control Implementation and Simulation[C]. Proe. IEEE Int. Conf. on Advcance Intellgent Mechatronlcs, (2005).

DOI: 10.1109/aim.2005.1511217

[6] WEN Haiou, XIANG Zhongfan, YU Junmao, ZHU Boshu. Design and Realization of Humanoid Robot Control System Based on DSP, FPGA and Fuzzy Self-adjusting PID Control [J], 2011, 39 (21): 101-104.

[7] Chen Nan and so on. A controller area network2based electric vehicle drive system design [J], Journal of Chongqing Univer sity, 2008, 31 (6): 603-609.