| Multi-Habitat drones are powerful,so they are widely welcomed at home and abroad.However,various multi-habited UAVs still have disadvantages such as complicated mechanical structure,low efficiency,and need to improve stability.Therefore,they should be further improved and optimized.In this paper,combined with the research experience of domestic and foreign multi-housing UAVs,a variable land-air amphibious rotor UAV with strong land walking performance and air flight capability,simple structure and strong stability is designed.In this paper,according to the working requirements and design indicators of the UAV,the UAV system is integrated and designed.The main body includes the four-part structure of the wheel and propeller integrated mechanism,the frame,the swing arm modification mechanism and the rear wheel component.The swing arm deformation mechanism,which is the key component of the human-machine modification,and the establishment of a three-dimensional model of the whole machine;then,according to the accuracy requirements of the UAV hysteresis,the probability and statistics method is used to conduct a systematic theoretical calculation and analysis on the swing arm deformation mechanism.The result is 20.15?-51.77?,which meets the requirement of design index hysteresis of less than 1°,and puts forward specific measures to reduce the hysteresis based on theoretical analysis;then use ADAMS software to simulate the input and output shaft angular velocity of the swing arm mechanism and the planetary gear meshing simulation.The error between the simulation value and the theoretical value is within 5%,which verifies the correctness of the virtual prototype,and then re-models the mechanism to carry out the simulation analysis of the hysteresis.The result is21'-53',which verifies the correctness of the theoretical calculation of the hysteresis.Measures to reduce the backlash,further simulation analysis of the mechanism's gear backlash and bearing radial clearance on the dynamic characteristics of the mechanism,the research results show that: Gear backlash and bearing radial clearance have a greater impact on the dynamic characteristics of the mechanism,should be controlled The gear backlash is between 0.007mm-0.012 mm,and the bearing radial gap is within the range of 0.003mm-0.014 mm.After that,the finite element strength analysis of the key components of the swing arm modification mechanism is carried out,which proves that the parts designed in this paper meet the strength requirements and With a large margin,use Ansys-Workbench to optimize the topology of the parts and re-check the strength of the optimized parts.The overall weight of the swing arm mechanism is reduced by 0.11 kg,with a ratio of 23.47%,and a lightweight mechanism that meets the strength requirements is obtained;Finally,the UAV prototype was assembled,and the UAV design index,backlash experiment verification and flight experiment were carried out.The experiment showed that the ground speed was 1.44km/s,the weight of the whole machine was about 2.302 kg,and the length of the fuselage was 76 cm.,The width is 34 cm,the height is33 cm,and the maximum return difference is 51.74',all of which meet the design index requirements.Through the UAV prototype test experiment,it is proved that the whole machine meets the working performance requirements.The land-air amphibious rotor UAV designed in this paper has the advantages of stable transmission,small size,low noise,and simple structure,which is conducive to the practical application of the land-air amphibious UAV variant. |
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