Journal of Hydrodynamics

, Volume 30, Issue 4, pp 605–617 | Cite as

Investigation of the hydrodynamic performance of crablike robot swimming leg

  • Li-quan Wang (王立权)
  • Hai-long Wang (王海龙)Email author
  • Gang Wang (王刚)
  • Xi Chen (陈曦)
  • Asker Khan
  • Li-xing Jin (靳励行)


The existing amphibious robots cannot usually enjoy a superior adaptability in the underwater environment by replacing the actuators. Based on the bionic prototype of the Portunus trituberculatus, a new leg-paddle coupling crablike robot with a composite propulsion of walking legs and swimming legs is developed, with both the abilities of walking and swimming under water. By simulation and experiment, the effects of the phase difference, the flapping amplitude and the angular bias of the coupling movement, as well as the Strouhal number on the hydrodynamic performance of the swimming legs are studied, and the time dependent tail vortex shedding structure in a cycle is obtained. Both experimental and numerical results indicate that the thrust force with a high propulsion efficiency can be generated by a flapping swimming leg. This work can further be used for analysis of the stability and the maneuverability of the swimming leg actuated underwater vehicles.

Key words

Leg-paddle coupling crablike robot swimming leg hydrofoil propulsion hydrodynamic performance 


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Copyright information

© China Ship Scientific Research Center 2018

Authors and Affiliations

  • Li-quan Wang (王立权)
    • 1
  • Hai-long Wang (王海龙)
    • 1
    Email author
  • Gang Wang (王刚)
    • 2
  • Xi Chen (陈曦)
    • 3
  • Asker Khan
    • 1
  • Li-xing Jin (靳励行)
    • 1
  1. 1.College of Mechanical and Electrical EngineeringHarbin Engineering UniversityHarbinChina
  2. 2.State Key Laboratory of Autonomous Underwater VehicleHarbin Engineering UniversityHarbinChina
  3. 3.College of Mechanical and Electrical EngineeringHeilongjiang Institute of TechnologyHarbinChina

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