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Article

Leg Mechanism Design and Motion Performance Analysis for an Amphibious Crab-like Robot

by
Shihao Hu
1,
Xinmeng Ma
2,
Xi Chen
3,*,
Mingfei Xin
4,
Changda Tian
4,
Kaixin Liu
4,
Sicen Li
1,
Liquan Wang
1,
Qinyun Tang
1,
Zhaojin Liu
1,
Mingxuan Ding
1 and
Jiawei Li
4
1
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
2
School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China
3
College of Mechanical and Electrical Engineering, Heilongjiang Institute of Technology, Harbin 150050, China
4
College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China
*
Author to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2024, 12(1), 10; https://doi.org/10.3390/jmse12010010
Submission received: 17 November 2023 / Revised: 8 December 2023 / Accepted: 17 December 2023 / Published: 19 December 2023
(This article belongs to the Special Issue Advancements in New Concepts of Underwater Robotics)
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Abstract

Bionic-legged robots draw inspiration from animal locomotion methods and structures, demonstrating the potential to traverse irregular and unstructured environments. The ability of Portunus trituberculatus (Portunus) to run flexibly and quickly in amphibious environments inspires the design of systems and locomotion methods for amphibious robots. This research describes an amphibious crab-like robot based on Portunus and designs a parallel leg mechanism for the robot based on biological observations. The research creates the group and sequential gait commonly used in multiped robots combined with the form of the robot’s leg mechanism arrangement. This research designed the parallel leg mechanism and modeled its dynamics. Utilizing the outcomes of the dynamics modeling, we calculate the force and torque exerted on each joint of the leg mechanism during group gait and sequential gait when the robot is moving with a load. This analysis aims to assess the performance of the robot’s motion. Finally, a series of performance evaluation experiments are conducted on land and underwater, which show that the amphibious crab-like robot has good walking performance. The crab-like robot can perform forward, backward, left, and right walking well using group and sequential gaits. Simultaneously, the crab-like robot showcases faster movement in group gaits and a more substantial load capacity in sequential gaits.
Keywords: amphibious environment; bionic; parallel leg mechanism; multi-legged robot; motion performance analysis amphibious environment; bionic; parallel leg mechanism; multi-legged robot; motion performance analysis

Share and Cite

MDPI and ACS Style

Hu, S.; Ma, X.; Chen, X.; Xin, M.; Tian, C.; Liu, K.; Li, S.; Wang, L.; Tang, Q.; Liu, Z.; et al. Leg Mechanism Design and Motion Performance Analysis for an Amphibious Crab-like Robot. J. Mar. Sci. Eng. 2024, 12, 10. https://doi.org/10.3390/jmse12010010

AMA Style

Hu S, Ma X, Chen X, Xin M, Tian C, Liu K, Li S, Wang L, Tang Q, Liu Z, et al. Leg Mechanism Design and Motion Performance Analysis for an Amphibious Crab-like Robot. Journal of Marine Science and Engineering. 2024; 12(1):10. https://doi.org/10.3390/jmse12010010

Chicago/Turabian Style

Hu, Shihao, Xinmeng Ma, Xi Chen, Mingfei Xin, Changda Tian, Kaixin Liu, Sicen Li, Liquan Wang, Qinyun Tang, Zhaojin Liu, and et al. 2024. "Leg Mechanism Design and Motion Performance Analysis for an Amphibious Crab-like Robot" Journal of Marine Science and Engineering 12, no. 1: 10. https://doi.org/10.3390/jmse12010010

APA Style

Hu, S., Ma, X., Chen, X., Xin, M., Tian, C., Liu, K., Li, S., Wang, L., Tang, Q., Liu, Z., Ding, M., & Li, J. (2024). Leg Mechanism Design and Motion Performance Analysis for an Amphibious Crab-like Robot. Journal of Marine Science and Engineering, 12(1), 10. https://doi.org/10.3390/jmse12010010

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