A wheel-track-leg composite unmanned ground platform

In response to the limitations of existing unmanned ground platforms in terms of environmental adaptability, this paper proposes a type of unmanned ground platform with variable configuration, which integrates wheel-track transformation and wheel-leg switching, and has strong terrain adaptability. This article first introduces the overall plan of the unmanned ground platform and analyzes the subsystems. Then, dynamic analysis of the mechanism was conducted to obtain the foot trajectory and reachable space, and the swing inertia was also calculated. Finally, a co-simulation was conducted based on Simulink and ADAMS. The research results indicate that the unmanned ground platform has high feasibility and strong adaptability.