Contact Dynamics Modeling and Control During the Combination Process of Air-Ground Robots  

作　　者：Xueying Jin Haoyuan Liu Guiyu Dong Kun Xu Xilun Ding 

机构地区：[1]School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China

出　　处：《Chinese Journal of Mechanical Engineering》2025年第1期306-322,共17页中国机械工程学报(英文版)

基　　金：Supported by National Natural Science Foundation of China(Grant Nos.T2121003 and 91748201).

摘　　要：In recent years,there has been a surge of interest in air-ground collaborative robotics technologies.Our research group designs a novel combination-separation air-ground robot(CSAGR),which exhibits rapid automatic combination and separation capabilities.During the combination process,contact effects between robots,as well as between robots and the environment,are unavoidable.Therefore,it is essential to conduct detailed and accurate modeling and analysis of the collision impact intensity and transmission pathways within the robotic system to ensure the successful execution of the combination procedure.This paper addresses the intricate surface geometries and multi-point contact challenges present in the contact regions of dual robots by making appropriate modifications to the traditional continuous contact force model and applying equivalent processing techniques.The validity of the developed model is confirmed through comparisons with results obtained from finite element analysis(FEA),which demonstrates its high fidelity.Additionally,the impact of this model on control performance is analyzed within the flight control system,thereby further ensuring the successful completion of the combination process.This research represents a pioneering application and validation of continuous contact theory in the dynamics of collisions within dual robot systems.

关 键 词：Air-ground robot Combination-separation function Contact force Dynamic modeling Finite element analysis 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]