Abstract: To address the challenges of limited mobility and obstacle-crossing capability for land-air hybrid unmanned platforms in complex building environments, a high-mobility deformable wheel-claw unmanned platform with a large expansion ratio, capable of switching between wheel and claw states, is proposed. A structural parameter optimization model is established to minimize both the deformation trigger torque and the average pressure angle of the deformable wheels. The sequential quadratic programming (SQP) method is applied to solve this constrained optimization problem. Additionally, a kinematic model of the entire platform is developed based on periodic motion analysis of a single deformable wheel, and the theoretical model is validated through multibody dynamics simulations and motion capture experiments. The results show that, compared to the initial structure, the optimized trigger torque is reduced by 20%, and the average pressure angle is decreased by 38.5%, with only a 6.25% error between the theoretical and simulated trigger torque values. The displacement and velocity curves of the optimized platform closely align with the simulation and experimental trends, providing a theoretical foundation for further dynamic modeling and trajectory optimization of high-mobility unmanned platforms.

Key words: land and sky unmanned platform, deformed wheel legs design, claw motion, motion analysis