Abstract
According to the requirements of the reconnaissance robot for the ability to adapt to a complex environment and the in-depth study of the obstacle climbing mechanisms, a planetary wheel-leg-combined mechanism capable of adapting to complex terrains is proposed. According to the proposed planetary wheel-leg-combined mechanism, the land part of the air-ground amphibious reconnaissance robot is designed. Considering the obstacle and fast marching performance, four groups of combined wheel-leg mechanisms are adopted in the land bank. Under the action of three kinds of obstacles, the stability and the movement ability of the robot are analyzed by using the static method. The parameter model of the reconnaissance robot is built by a virtual prototype dynamics software MSC.ADMAS. The kinematic characteristic curves of each component and the whole prototype are obtained, which provides a theoretical basis for the design and numerical calculation of the robot structure. Finally, the climbing ability tests of the reconnaissance robot prototype verify the reliability and practicability of the body structure of the reconnaissance robot.
Highlights
Global economic growth has driven the development and progress of science and technology, and military activities are important
This paper presents a planetary wheel-legged air-ground amphibious reconnaissance robot
To verify the terrain adaptability and obstacle climbing capability of the robot, the parameters of the obstacle prediction model of the reconnaissance robot are obtained based on the dynamic simulating software MSC.ADAMS
Summary
Global economic growth has driven the development and progress of science and technology, and military activities are important. Applied Bionics and Biomechanics pitch quadrotor flying robot for multifield locomotion, that is, standing and rolling at a given tilt angle on the ground like a tire, along with floating and moving on the water surface [7]; the MMALV [8] (morphing micro air-land vehicle) robot is a new type of micro air and land vehicle that can carry out aviation and land movement It is an integration of power, joint, and leg passive adaptation, which allows it to fly, land, and walk on the ground and over obstacles, etc., so it can be widely applied in different field environments; the “Pegma” deformable land and air amphibious robot [9,10,11], which can carries a variety of loads, has an endurance of 20 minutes, a maximum travel speed of 4.8 km/h, a maximum flight speed of 84 km/h, and so on.
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