Research On Structural Design And Motion Control Technology Of The Miniature Wheels Unmaned Platform

According to the development trend of the future war,the task that weapon system aids mechanical equipment is becoming more and more difficult,and its workspace is getting smaller and smaller.The wheeled unmanned platform generally achieves fast steering through left and right sides of the wheel,differential control or switchover of the actuating device,but the steering operation with long time consumption and large area occupation will not be allowed according to the requirements of time and space in the case of extremely narrow workspace or emergency,then what is badly needed is the unmanned platform with manual remote operation and unmanned automatic control which can achieve the motion in front and back,lateral motion as well as in-situ rotation motion and meet the time and space requirements of fast steering.Based on the functional requirements analysis of the miniature wheeled unmanned platform,the overall scheme design of the miniature wheeled unmanned platform was conducted,and the three-dimensional structure design and virtual prototype modeling of the miniature wheeled unmanned platform were completed.The virtual prototype model of the miniature wheeled unmanned platform was made the motion simulation in front and back,lateral motion simulation and in-situ rotation motion simulation,and hence the centroid velocity,displacement,amplitude and torque characteristics under different motion states were concluded,and their differences were analyzed by using computer simulation technology under the condition of different dynamic friction coefficients.According to the omni-directional motion control requirements of the miniature wheeled unmanned platform,the servo control system model of the miniature wheeled unmanned platform was established though electromechanical collaborative simulation method,and the electromechanical collaborative simulation modeling of the miniature wheeled unmanned platform was completed combining with the virtual prototype model.The the motor dynamic characteristic curve and unmanned platform motion characteristic curve under different motion states were obtained by simulating the motion simulation in front and back,lateral motion simulation and the in-situ rotation motion simulation of the miniature wheeled unmanned platform.And then the simulation results were concluded on the basis of analysis.The physical test prototype model of the miniature wheeled unmanned platform which will be made an in-depth research and analysis later may be developed and manufactured to verify the rationality and validity of the kinematical equation,the three-dimensional structure design and the simulation model simplification according to the overall scheme design.