Microsystem Technologies

, Volume 22, Issue 8, pp 2051–2066 | Cite as

Preliminary mechanical analysis of an improved amphibious spherical father robot

  • Yanlin He
  • Liwei ShiEmail author
  • Shuxiang Guo
  • Shaowu Pan
  • Zhe Wang
Technical Paper


Amphibious micro-robots are being developed for complicated missions in limited spaces found in complex underwater environments. Therefore, compact structures able to perform multiple functions are required. The robots must have high velocities, long cruising times, and large load capacities. It is difficult to meet all these requirements using a conventional underwater micro-robot, so we previously proposed an amphibious spherical father–son robot system that includes several micro-robots as son robots and an amphibious spherical robot as a father robot. Our father robot was designed to carry and power the son robots. This paper discusses improvements to the structure and mechanism of the father robot, which was designed to have a spherical body with four legs. Based on recent experiments in different environments, we have improved the father robot by adding four passive wheels, and we have redesigned its structure by means of three-dimensional printing technology, resulting in greatly improved velocity and stability. Moreover, due to the complexity and uncertainty of many underwater environments, it is essential for the father robot to have adequate structural strength. We analyzed the movement mechanisms and structural strength using finite element analysis to obtain the deformation and equivalent stress distributions of the improved robot. The results provide support for further analysis of the structural strength and optimal design of our amphibious spherical father robot.


Acrylonitrile Butadiene Styrene Ionic Polymer Metal Composite Acrylonitrile Butadiene Styrene Underwater Environment Equivalent Maximum Stress 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



This work was supported by the Excellent young scholars Research Fund of Beijing Institute of Technology and the Basic Research Fund of the Beijing Institute of Technology (No. 3160012211405). This research project was also partly supported by National Natural Science Foundation of China (61375094), Key Research Program of the Natural Science Foundation of Tian-jin (13JCZDJC26200) and National High Tech. Research and Development Program of China (No. 2015AA043202).


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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  • Yanlin He
    • 1
    • 2
  • Liwei Shi
    • 1
    • 2
    Email author
  • Shuxiang Guo
    • 1
    • 2
    • 3
  • Shaowu Pan
    • 1
    • 2
  • Zhe Wang
    • 1
    • 2
  1. 1.The Institute of Advanced BioMedical Engineering System, School of Life ScienceBeijing Institute of TechnologyBeijingChina
  2. 2.Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, the Ministry of Industry and Information TechnologyBeijing Institute of TechnologyBeijingChina
  3. 3.Faculty of EngineeringKagawa UniversityTakamatsuJapan

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