Design and modelling of four-legged amphibious robot

Masood, Alnajar and Eldin, Muhammad Saad and Omar, Bnhamdoon and Syafiq, Muhammad and Toha @ Tohara, Siti Fauziah and Abu Hanifah, Rabiatuladawiah (2020) Design and modelling of four-legged amphibious robot. Technology Reports of Kansai University, 62 (03). pp. 605-617. ISSN 0453-2198

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Abstract

This paper proposed a method to model the gait movement of four-legged amphibious robot. This type of robot has shown a great potential to perform complex operations in difficult and challenging land and underwater environments. Not only they can monitor and manipulate complicated environment conditions during disasters such as floods, landslides, and others, but it can also perform deep ocean exploration, underwater structures manipulation, disaster rescue operations, and reconnaissance. The promising advantages of amphibious underwater robots have motivated researchers to propose different design strategies for the structures and control methods of such vehicles. To design and model the fourlegged amphibious robot, the connection between the input links with the output links was identified in this paper. The system architecture and system prototype were developed for model performance test. The tests were conducted and analyses using the SAM- the Ultimate Mechanism Designer for various configurations of the links in terms of the angle, angular velocity and the angular acceleration.

Item Type:	Article (Journal)
Additional Information:	4680/79934
Uncontrolled Keywords:	Amphibious robot, Underwater robot, Mathematical modelling, Prototype development.
Subjects:	T Technology > TJ Mechanical engineering and machinery
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Siti Fauziah Toha
Date Deposited:	13 May 2020 09:18
Last Modified:	05 Oct 2020 16:03
URI:	http://irep.iium.edu.my/id/eprint/79934

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