Design And Hydrodynamic Performance Of Bionic Amphibious Robot

Amphibious robots are playing an increasingly important role in various military and civilian environmental tasks.They are widely used in disaster relief,living entertainment and ecosystem monitoring.However,the common amphibious robot needs to manually change its motion system to achieve amphibious movement,and its efficiency and reliability are greatly restricted.In recent years,many new amphibious robots have adopted biological excitation and bionics technology.Therefore,this thesis adopts the tortude-wave propulsion technology of the "devil knife fish" of the Nile River to design and produce a set of bionic motion system,which can realize the work in the complex amphibious environment and has high mobility and flexibility.This article describes the overall design and production of a bionic amphibious robot.The 3D modeling software Solid Works was used to model and assemble the components of the bionic amphibious robot.The fluid dynamics software Fluent was used to study the hydrodynamic performance of the bionic amphibious robot.Based on the overall design,a physical prototype of the bionic amphibious robot was fabricated and assembled,and functional tests were conducted.The main research contents are as follows:First,the modular design concept was used to complete the internal system design,component structure design,main equipment selection,and related material selection of the bionic amphibious robot,in accordance with the working characteristics of the robot.Finite element analysis software was used to simulate the strength of the main functional modules under actual working conditions,providing theoretical basis for the establishment and debugging of the control system and the fabrication and assembly of the prototype.Secondly,this paper studied the hydrodynamic performance of the bionic amphibious robot body and flexible fin surface.Based on CFD computational fluid software,the hydrodynamic performance of the bionic amphibious robot body and umbilical cable at different sailing speeds was studied,and the influence of different sailing speeds on the resistance performance of the bionic amphibious robot body was verified.The relationship between the total resistance Fx of the umbilical cable and the sailing distance x and the water depth h was obtained.The elastic smoothing method in Fluent dynamic grid technology and local grid reconstruction technology were used to deal with the large swing fluctuation of flexible fin surface,and the thrust,propulsion efficiency and dynamic flow field distribution around the flexible fin surface were obtained.The body resistance and thrust of the robot fin surface at the set speed were analyzed,and whether the thrust could meet the set speed was verified.It provides the basis for carrying out the whole underwater test.Finally,according to the overall design of the bionic amphibious robot,the machining drawings of each module and the 3D models for 3D printing were completed,and a physical prototype of the bionic amphibious robot was fabricated.The installation and debugging of each functional module were completed to ensure that all functions were normal,and an experimental testing platform was constructed.Carry out land and underwater tests of the bionic amphibious robot,complete its basic function realization,speed and turning radius test,positioning performance and accuracy test of ground height.The test results showed that the bionic amphibious robot met the design and usage requirements.