Design and mode switching of wheel-leg adaptable amphibious robot

A large diameter wheel-leg adaptable amphibious hybrid robot of a new type is proposed in this paper. Firstly, the robot adopts the large diameter wheel-legged mechanism; the wheel has a composition of wheel plates. Secondly, the three wheel plate joint are distributed in different planes. The mode switching mechanism is easy to implement and there is no redundant mechanism. The drive system is distributed in closed space. In the aspect of control, a full-duplex conversion half-duplex control circuit is designed to solve the problem that the full-duplex control board can't directly drive the servo machine with half-duplex circuit communication; two wheel-leg adaptable movements of robot are planned. Adams and GeoGebra5.0 are used for simulation. Finally, this method is verified by the experiment.