Design, Modeling and Simulation of a Reconfigurable Land-Air Amphibious Robot

摘要

This paper proposed a reconfigurable land-air amphibious robot (RLAR). This robot inherits the advantages of the rotor UAV and the wheel mobile robot and can realize the movement in the ground and air environment. The kinematic model of the robot is constructed by analyzing the movement mechanism of the reconfigurable mechanism. The kinetic model is established using the Lagrangian method. The virtual prototype is established by ADAMS, and the reconfiguration process of the prototype is simulated. In order to verify the accuracy of the proposed model, the kinetic model and kinematic model of the robot are also verified by MATLAB, and the results of the mechanical theory model and the virtual prototype are compared. The results show that the theoretical calculations of the proposed kinetic model and kinematics model are consistent with the results of the virtual prototype, which provides the necessary basis for the manufacture of the physical prototype.