中文摘要：

提出了一种既能够在陆地上爬行，又能够在一定深度的水下浮游和在海底爬行的新概念轮桨腿一体化两栖机器人；多运动模式和复合移动机构是该机器人的突出特点．分析了轮桨腿复合式驱动机构的运动机理，并采用多目标优化设计理论和算法，对驱动机构的爬行性能和浮游特性进行了综合优化，得到了两栖机器人驱动机构的结构优化参数．虚拟样机的仿真结果证明了该轮桨腿一体化两栖机器人驱动机构的综合运动性能良好，对非结构环境具有一定的适应能力．

英文摘要：

The wheel-propeller-leg integrated amphibious robot is presented as a new type of robot, which can crawl on land and swim underwater in certain depth or creep on ocean floor. The multi-locomotion modes and compound mobile mechanism are the main traits of the amphibious robot. The motion principle of the wheel-propeller-leg integrated driving mechanism is analyzed, and the multi-objective optimization theory and algorithm are adopted to comprehensively optimize the driving performance of both crawl and swim. As a result, the optimized parameters of the driving mechanism are obtained. Simulation results from the virtual prototype prove that the wheel-propeller-leg integrated driving mechanism is endowed with good performance in the comprehensive locomotion and enables the amphibious robot to be adaptive to unstructured environment to a certain extent.