Developing of a Wheel-Paddle Integrated Propeller for Amphibious Robot Based on Moving Webbed Paddle Wheels

Abstract:

With wheeled amphibious robot as the research object, for the adaptability of amphibious robot to amphibious environment such as sandy, muddy, or rocky land, we have proposed a new wheel-paddle integrated propeller based on moving webbed paddle wheels. This propeller made the robot functional well in the water and on land, and made it a good adaptability to amphibious environment. Considering the specific situations of the amphibious robot, the design process was proposed to design this integrated wheel-paddle integrated propeller. The angles of the paddles in water were analyzed for stability through simulations. Finally, a wheel-paddle integrated propeller based on moving webbed paddle wheels was made according to virtual model. To test the prototype propeller’s performance on speed, turning and switching ability both on land and in water, several experiments were carried out. Results showed that the prototype propeller achieved the desired design specifications.

• Periodical: Applied Mechanics and Materials (Volumes 701-702)
• Pages: 689-696
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.701-702.689
• Online since: December 2014
• Authors: Fu Sheng Zha, Zhen Shan Bing, Jun Wang, Peng Fei Wang*, Man Tian Li, Wei Guo, Long Cheng, Yu Xia
• Keywords: Amphibious Robot, Moving Webbed Paddle Wheels, Water Surface Stability, Wheel-Paddle Integrated Propeller

References

[1] Yuangui Tang, Aiqun Zhang, Jiancheng Yu, Xueqiang Zhang. Multi-objective Optimization of Driving Mechanism of a Wheel Paddle Amphibious Robt. [J] Robot, 2009(5): 276-280. In Chinese.

[2] Yongchuan Yu, Kui Yuan, Wei Zou. The Obstacle-surmounting Process Model and the Analysis of Influencing Factors. [J] Robot, 2008, 30(1): 1-6. In Chinese.

[3] Zhenyu Ma. Development and Expectation of Marine Propeller [A]. Silicon Valley, 2013(9): 44-45. In Chinese.

[4] B.H. Anfeimofu, T.H. Waganover, B.T. Pavlenko. The Calculation of Ship Traction [M]. Beijing: People's Communications Press, 1985. In Chinese.

[5] Shitang Dong. Ship Propeller Theory [M]. Shanghai: Shanghai Jiao Tong University Press, 1985. In Chinese.

[6] Yang Y, Sun Y, Ma S. Paddle trajectory generation for accessing soft terrain by an ePaddle locomotion mechanism[C]/Robotics and Automation (ICRA), 2013 IEEE International Conference on. IEEE, 2013: 403-408.

DOI: 10.1109/icra.2013.6630607

[7] Sun, Yi, Shugen Ma, and Xin Luo. Design of an eccentric paddle locomotion mechanism for amphibious robots., Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on. IEEE, (2010).

DOI: 10.1109/robio.2010.5723481