Modeling And Simulation Of Reconfigurable Land And Air Amphibious Robot

As a lifeless carrier,robots are playing an increasingly important role in the dangerous and complex battlefield environment.Compared with traditional ground mobile robots,land-air amphibious robots have the characteristics of a wider range of activities and stronger adaptability to complex environments.Compared with traditional aerial rotary wing robots,they have low energy consumption,high safety,low noise,and endurance.Long advantage.Therefore,land-air amphibious robots have broader application scenarios,such as cruise,reconnaissance,and fixed-point strikes in unmanned complex battlefields in the future.This paper focuses on improving the structure of the land-air amphibious robot,combining the existing research results,focusing on the dynamic model and control method of the multidegree-of-freedom multi-rigid robot.In this paper,based on the functional requirements and index requirements,the realization plan of the robot’s air movement in the single domain environment and the realization plan of the ground movement are compared,and the movement mode of the reconfigurable land-air amphibious robot in the two environments is determined.Based on the adopted motion scheme,a deformed and reconstructed mobile robot scheme with ground mode and aerial mode is designed.Then the drive motors and variant steering gears of the motion system are selected under each working condition,and the overall structure of the reconfigurable land-air amphibious robot is finally designed;through the analysis of the robot’s degree of freedom and kinematic characteristics,the robot’s multiple degrees of freedom For the multi-rigid body system,the dynamic model of the robot using the Kane equation dynamic method is established;according to the specific structural parameters of the actual robot,the dynamic model is solved.Through the ADAMS software,a virtual prototype model is built.The ground motion process and the proposed reconstruction process are simulated,and the simulation results are compared and analyzed with the results based on the dynamics theory model;according to the robot dynamics model,the ground position,speed controller,air position and attitude based on backstepping method The controllers are designed separately to realize the trajectory tracking of the robot in different environments,and the feasibility of the controller is verified by simulation experiments.Finally,the results of the experimental prototype show that the reconfigurable land-air amphibious robot can quickly realize the difference between the air mode and the ground mode.The reconfiguration of handover,possesses the ability to fly in the air and move on the ground,and meet the design index requirements.