抄録
This paper describes the mechanical design of the small amphibious mobile robot for environmental monitoring. To realize the body having amphibious locomotion performance by simple mechanism and principle of operation and high stability on the water, we proposed the amphibious propulsion crawler, the waterproof driving mechanism using commercially available case and magnet coupling, body shape which realizes the Limit of Positive Stability (LPS) of about 180 deg. Especially the body shape was designed by computing the position of the center of gravity and the center of buoyancy with various height of the draft and aspect ratio. The prototype of a small amphibious mobile robot was designed based on these concepts.
