The real time modeling and design of multiple vector vehicles combination
Zegui Wu, Junting Ye, Pengshun Wang, Yanchun Zhao, Fusheng Li · 2020
This paper introduces a new type of deformable aerial robot, which is based on our redesigned vector vehicle, using the new vector vehicle as a single unit for free combination in the air, different combinations will produce different characteristics to meet various requirements. For example, the horizontal combination of vehicle can make the combined robot one more degree of freedom, and through some special combination methods, the combined robot can speed up and increase the degree of freedom. In the further algorithm research on problem for the free combination of multiple vector vehicles in the air, the first issue is to establish the mathematical model of the vector vehicle group after the free splicing in the air, which is obtained through the communication between the magnet contacts on the vehicles. Second, in order to obtain the geometric center of the newly constructed robot, the coordinate system is constructed with the mother machine as the center. Third, we use Newton-Euler equation to model the new combination of robot. The real-time mathematical model of any number and combination of vehicles can be obtained by using this method, which has important applications in the splicing and separation of vehicle.