Abstract: In order to improve the motion performance of the robots in amphibious environment， and to reduce the mechanical complexity and control difficulty of their motion mechanism switching between water and land， an amphibious hexapod robot with compound moving limbs was proposed. Through the land and underwater motion planning of the robots， the stability problem of the robot adapting to different slope terrain was solved. The multi-degree-of-freedom underwater motions of the robots were realized by configuring the positions and poses of the vectored propeller. The simulation results of the robots crawling motion under ADAMS verify that the mechanical design of the robost is reasonable， and also show that the robots have good stability when climbing on different slopes. In order to further evaluate the motion performance of the robots， a prototype robot was built to test the climbing performance of the robots on the slope， and at the same time， the multi-degree-of-freedom motions of the robot under water were verified， including straight， rotating， floating and diving. The experimental results show that the robots have good motion performance both on land and underwater. 

Key words: amphibious hexapod robot, vectored propeller, kinematics simulation, performance evaluation

摘要： 为提高机器人两栖环境下的运动性能，同时降低其运动机构在水陆间切换的机械复杂性与控制难度，提出了一款复合运动肢的水陆两栖六足机器人。对机器人进行陆地和水下的运动规划，解决了机器人适应不同坡度斜坡地形的稳定性问题；通过配置矢量推进器的位姿，实现了机器人多自由度的水下运动。ADAMS下机器人爬行运动的仿真结果在验证机械设计合理的前提下也表明机器人在不同坡度的斜坡爬行具有较好的稳定性。为进一步评估机器人的运动性能，搭建了机器人样机，在测试机器人斜坡爬行性能的同时，验证了机器人在水下可实现包括直行、旋转、上浮和下潜的多自由度运动。实验结果表明，机器人在陆地与水下均具有良好的运动性能。

关键词: 两栖六足机器人, 矢量推进器, 运动学仿真, 性能评估