Abstract
Due to complexity of the structure, uncertainty of the dynamic model and poor adaptability of the environment of the traditional mobile robot, this paper proposes an all-environment mobile robot based on coaxial eight-rotor which can adapt to the three environments of water, land and air. This paper first describes the mechanical structure and hardware design of AEM (All-environment Mobile) robot, and then aerodynamics model and hydrodynamic model of the robot are formulated by Newton Euler equations. In the end, the physical prototype is assembled, and experiments are conducted to verify that the AEM robot could achieve the expected three motion modes.
Ziyi Guo, Yiduo Zhu and Meiling Wang are joint first authors; Tao Li is the corresponding author.
This work is supported by National Key R&D Program of China (No. 2017YFB1303200), Project of National Natural Science Foundation of China (No.61703390) and Anhui Provincial Natural Science Foundation (1808085QF193).
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Guo, Z. et al. (2019). System Design and Experimental Analysis of an All-environment Mobile Robot. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_195
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DOI: https://doi.org/10.1007/978-3-030-20131-9_195
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