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Design and Modeling of a Novel Transformable Land/Air Robot

机译：新型可变形陆地/空中机器人的设计与建模

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摘要

This paper describes a novel transformable land/air robot that is capable of terrestrial locomotion and aerial locomotion. What is unusual about the robot is that it can transform between the two modes of locomotion at will through the transformable mechanism, allowing the robot to overcome large obstacles in their mission environment. The wheel mechanism of the robot is shared by both terrestrial and aerial locomotion, instead of simply adding a quadrotor to a wheeled mobile robot. The objective of this paper is to design the robot and establish the kinematic and dynamic models for the transformable process. Herein, we focus on the design of the driving wheels and transformable mechanism. A series of experiments about the energy analysis and the transformation from aerial locomotion mode to terrestrial locomotion mode were performed with the physical prototype; the experiment results confirmed the validity of our design and the theoretical analysis that are helpful to optimize the key parameters in our design. Moreover, our work can provide a reference for the study of the flying car.
机译：本文介绍了一种新型的可变形陆地/空中机器人，它能够进行地面运动和空中运动。机器人的不同寻常之处在于，它可以通过可变形的机制随意在两种运动模式之间转换，从而使机器人能够克服其任务环境中的大障碍。地面运动和空中运动都共享机器人的轮机构，而不是简单地在轮式移动机器人上增加四旋翼。本文的目的是设计机器人并建立可变形过程的运动学和动力学模型。在此，我们集中于驱动轮和可变形机构的设计。用物理样机进行了一系列的能量分析和从空中运动模式向地面运动模式转换的实验。实验结果证实了我们设计的有效性和理论分析，有助于优化设计中的关键参数。而且，我们的工作可以为飞行汽车的研究提供参考。

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  • 来源
    《International journal of aerospace engineering》 |2019年第1期|2064131.1-2064131.10|共10页
  • 作者

    Wang He; Shi Jiadong; Wang Jianzhong; Wang Hongfeng; Feng Yiming; You Yu;

  • 作者单位

    Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China;

    Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China|Beijing Inst Technol, Key Lab Biomimet Robots & Syst, Minist Educ, Beijing 100081, Peoples R China;

    Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China;

    Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China;

    Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China;

    Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China;

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