Design And Research Of Small Wheeled Double-sided Unmanned Reconnaissance Platform

In the anti-terrorism reconnaissance activities,in order to reduce the casualties of soldiers,and the target area of intelligence can been determined quickly,a mobile reconnaissance platform is need to been designed,its size is convenient for soldiers to carry and it has the ability to pass through the ground quickly,the ability of climbing and climbing over obstacles,the ability to perform tasks after the rollover,and the ability of video image acquisition and transmission in a certain range;based on this background,a small wheeled two-sided moving unmanned reconnaissance platform has been designed.First of all,the research and development of military anti-terrorism robot at home and abroad were analyzed,according to the technical requirements,the overall design scheme was developed,planet wheel was introduced to the design of the small wheeled two-sided moving unmanned reconnaissance platform,a body lifting mechanism was proposed and designed,the finite element analysis of the key components were carried out by using ANSYS Workbench in the design process.The kinematic and dynamic modeling analyses were taken for the unmanned reconnaissance platform which structural design has been completed,its planar motion model was built,and its equation of motion state is given,the tire slip constraint,ground mechanics of the planet wheel were modeled and analyzed,the roll angle,maximum climbing angle were analyzed,The negotiation process was analyzed,the dynamic modeling was carried out.The control system and image collection and transmission system of unmanned reconnaissance platform were designed,first its motion control principle was analyzed,and then the servo control method of two-dimensional reconnaissance turntable was analyzed,the control method of lifting mechanism was analyzed,then the algorithm of image rotation when it rollover was analyzed.The ADAMS/View dynamics simulation of the unmanned reconnaissance platform climbing,complex pavement,obstacle motion were carried out,then the displacement,velocity,acceleration and driving torque curves are obtained.Finally,the prototype was live tested,the test results show that the indicators meet the design requirements,but also show it has good mobility and environmental adaptability.