Design and Static Analysis of Feet-legs Device of a Natatores-like Amphibious Robot

Abstract

With the increased demand for the exploration of the ocean, the focus of research in the field of robotics has changed. Amphibious robots show broad application prospects. In order to design an amphibious robot adapted to multiple environments, a feet-legs device inspired by natatores was designed. Each webbed foot is made up of three sets of four-linked rods that allow the toe bones to fold and shrink, enabling better imitation of the webbed feet motion of natatores paddling. In order to analyse and optimize the mechanical strength of the critical components of the device during operation, static analysis and structural improvements are made to the webbed feet and the roller of the cylindrical cam. The results show that the static strength of improved webbed feet and the cam roller meet the requirements.