变结构陆空无人机设计与验证

Design and Verification of Variable-Structure Land-Air Unmanned Aerial Vehicle

摘要: 针对现有陆空无人机驱动冗余与模式切换稳定性不足的瓶颈问题，本文提出一种蜗轮自锁倾转机构与单电机双模式动力复用系统的新型变结构无人机。通过锥齿轮组同步控制机臂倾角，实现0˚~60˚动态调节，结合减速齿轮组实现旋翼与车轮的协同驱动，减少两栖无人机驱动冗余。基于SolidWorks构建参数化模型，推导模式切换过程的运动学方程，揭示倾转关节扭矩与机臂角度的非线性关系；MATLAB仿真结果表明，动力系统可完全满足旋翼与车轮的协同驱动需求，验证了协同驱动方案的可行性；通过样机实验验证了无人机在陆空模态下的稳定运动能力，其创新的机构设计与动力系统展现出良好的工程适用性，为复杂环境作业装备的轻量化设计提供了新思路。

Abstract: Aiming at the bottleneck problems of existing land-air drones, such as drive redundancy and unstable mode switching, this study proposes a novel reconfigurable UAV featuring a worm-gear self-locking tilt mechanism and a single-motor dual-mode power reuse system. The synchronized control of arm tilt angles (0˚~60˚ dynamic adjustment) is achieved through bevel gear sets, while a reduction gear group enables cooperative drive of rotors and wheels, effectively mitigating drive redundancy in amphibious UAVs. A parametric model was constructed in SolidWorks, and kinematic equations for mode switching were derived, revealing the nonlinear relationship between tilt joint torque and arm angles. MATLAB simulations demonstrate that the power system fully meets the cooperative drive requirements of rotors and wheels, validating the feasibility of the integrated drive solution. Prototype tests confirm stable motion performance in both aerial and terrestrial modes, with the innovative mechanism design and power system exhibiting excellent engineering applicability, providing new insights for lightweight design of complex-scenario operational equipment.