Reconfiguration Configuration And Kinematics Analysis Of Metamorphic Automobile

Metamorphic mechanism is an important branch of mechanical structure and has broad application prospects.Based on the research content of metamorphic mechanism,a new ground mobile system is designed based upon the wheel-legged mobile mechanism at home and abroad.The configuration analysis of the reconfiguration process of the metamorphic vehicle is carried out,and the kinematics and dynamics of the reconfiguration process of the metamorphic vehicle are studied.First,a new ground mobile system,namely the driverless metamorphic automobile,is designed.Compared with traditional vehicle,driverless metamorphic automobile has advantage of fast moving on structured road and high trafficability on unstructured road by naturally switch between wheeled driving and legged walking through reconfiguration and metamorphic mechanism,and thus has been widely used in some special environments such as star explore and earthquake emergency rescue.Secondly,the reconfiguration process of the driverless metamorphic automobile is explained.The reconfiguration process of metamorphic automobile is divided into three stages: support stage,lifting stage and stand-up stage,and the structure change during metamorphic process is described.Mathematical models in the reconfiguration process are established by using adjacency matrix and mutant gene modeling,and the relationship between the various conformations was analyzed.Then,kinetic analysis is carried out for the three phases(supporting,lifting,standing up)during the reconfiguration process of such driverless metamorphic automobile.The kinematic models of three reconfiguration phases were established based on D-H theory,and dynamic models of three reconfiguration phases are constructed based on Lagrange equation.The stability in the reconfiguration process of driverless metamorphic automobile is also analyzed.Finally,the kinematics and dynamics model of the driverless metamorphic automobile is built in MATLAB,and the virtual prototype model is established in Adams.And the simulation results verified the validity of established kinematic models and dynamic models.This study lay solid basis for stability analysis of reconfiguration process of driverless metamorphic automobile.