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This paper introduces an innovative design for an amphibious air-ground robotic vehicle that facilitates seamless transitions between wheel and quadrotor modes using a single actuator. The design integrates a landing-foot mechanism, a wheel shaft rotation mechanism, and a novel wheel-transforming mechanism. The mechanism employs a unique combination of gears, rods, and an electromagnetic connection to passively convert the wheels into four rotor-wings driven by only one hydraulic actuator. Through a comprehensive kinematic analysis, we explored the effects of varying axle spacings on the vehicle’s transformation process. The results demonstrate how the novel design achieves mode conversion efficiently, ensuring minimal wear and tear on the tires and optimizing the vehicle’s performance for diverse applications.

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Design of Wheel-to-Quadrotor Mechanism Driven by One Additional Actuator for Amphibious Air-Ground Robotic Vehicles

  • 章节

  • 发表日期：

    2026年

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  • Zhangyuan Wang,
  • Kai Sun,
  • Weicheng Cui,
  • Dixia Fan

摘要

This paper introduces an innovative design for an amphibious air-ground robotic vehicle that facilitates seamless transitions between wheel and quadrotor modes using a single actuator. The design integrates a landing-foot mechanism, a wheel shaft rotation mechanism, and a novel wheel-transforming mechanism. The mechanism employs a unique combination of gears, rods, and an electromagnetic connection to passively convert the wheels into four rotor-wings driven by only one hydraulic actuator. Through a comprehensive kinematic analysis, we explored the effects of varying axle spacings on the vehicle’s transformation process. The results demonstrate how the novel design achieves mode conversion efficiently, ensuring minimal wear and tear on the tires and optimizing the vehicle’s performance for diverse applications.