Research on the reconstruction configuration and motion behavior of unmanned metamorphic vehicle

International Journal of Advanced Robotic Systems

article

Jun Liu¹  Pengliang Yang¹  Mingming Lu¹  Lei Sun¹  He Huang¹ 

[1] School of Automotive and Transportation Engineering, Hefei University of Technology, Tunxi Road, Baohe District, Hefei, Anhui Province

关键词: Kinematics and dynamics analysis;    motion smoothness;    motion stability;    reconstruction motion;    unmanned metamorphic vehicle;   

DOI  :  10.1177/17298814221075931

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

As a new type of ground transportation system, an unmanned metamorphic vehicle can naturally switch between wheeled driving and legged walking through vehicle reconstruction. Therefore, compared with traditional vehicles, unmanned metamorphic vehicles can move quickly on structural roads and have high trafficability on nonstructural roads. Furthermore, an unmanned metamorphic vehicle is applicable to interstellar detection and earthquake rescue. In this study, the topological structure of an unmanned metamorphic vehicle was designed and the reconstruction process was described. In addition, a kinematic analysis was conducted on the three stages (supporting, lifting, and standing-up) of reconfiguring the metamorphic vehicle. The kinematic and corresponding dynamic models were established based on the screw theory and the Lagrange equation. A Matlab/Simulink simulation was then carried out for the unmanned metamorphic vehicle. The simulation results describe the motion behavior of the system reconstruction, illustrating that the established kinematic and dynamic models are reasonable. Finally, the correctness of the abovementioned kinematic and dynamic models was further verified by Adams virtual prototype simulation. The above findings provide a solid foundation for future studies on stability control during the reconstruction of unmanned metamorphic vehicles.

【 授权许可】

CC BY