Design and modeling of Klann mechanism-based paired four legged amphibious robot

Rafeeq, Mohammed and Toha, Siti Fauziah and Ahmad, Salmiah and Mohd Yusof, Muhammad Syafiq and Mohd Razib, Mohd Asyraf and Shamsul Bahrin, Muhammad Ikmal Hakim (2021) Design and modeling of Klann mechanism-based paired four legged amphibious robot. IEEE Access, 9. pp. 1-10. E-ISSN 2169-3536 (In Press)

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Abstract

The ability of the amphibious robot to walk on dry land and swim in the water motivates many researchers to explore the structural design strategies and control methods of the system. In this research, the paired four-legged amphibious robot is designed and modeled. The optimized Klann linkage mechanism is applied as the mechanism of the robot's leg. The kinematic analysis of the designed model is performed in SAM (Simulation and Analysis of Mechanisms) to study the motion trajectory of the system. The inverse dynamic analysis is used to obtain the driving torque of the actuator for the designed amphibious robot. The results demonstrate that the trajectory path of the lower part of the foot in the Klann mechanism is more horizontal than the four-bar mechanism and resulting in higher propulsion of the Klann mechanism than the four-bar mechanism. The simulation also reveals that the amphibious robot has the capability to maneuver and thus validate the ability of the designed model.

Item Type:	Article (Journal)
Uncontrolled Keywords:	Amphibious robot, dynamic modeling, Klann mechanism, kinematic modeling.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering Kulliyyah of Engineering > Department of Mechanical Engineering Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr Mohd Asyraf Mohd Razib
Date Deposited:	28 Dec 2021 17:26
Last Modified:	05 Jan 2022 09:49
URI:	http://irep.iium.edu.my/id/eprint/95110

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