As a new type of ground transportation system, an unmanned metamorphic vehicle can naturally switch between wheeled driving and legged walking through vehicle reconstruction. Therefore, compared with traditional vehicles, unmanned metamorphic vehicles can move quickly on structural roads and have high trafficability on nonstructural roads. Furthermore, an unmanned metamorphic vehicle is applicable to interstellar detection and earthquake rescue. In this study, the topological structure of an unmanned metamorphic vehicle was designed and the reconstruction process was described. In addition, a kinematic analysis was conducted on the three stages (supporting, lifting, and standing-up) of reconfiguring the metamorphic vehicle. The kinematic and corresponding dynamic models were established based on the screw theory and the Lagrange equation. A Matlab/Simulink simulation was then carried out for the unmanned metamorphic vehicle. The simulation results describe the motion behavior of the system reconstruction, illustrating that the established kinematic and dynamic models are reasonable. Finally, the correctness of the abovementioned kinematic and dynamic models was further verified by Adams virtual prototype simulation. The above findings provide a solid foundation for future studies on stability control during the reconstruction of unmanned metamorphic vehicles.

无人驾驶变质车作为一种新型的地面交通系统，通过车辆改造可以自然地在轮式驾驶和腿式行走之间切换。因此，与传统车辆相比，无人驾驶变质车可以在结构性道路上快速移动，在非结构性道路上具有较高的通行性。此外，无人驾驶变质器可用于星际探测和地震救援。在这项研究中，设计了无人驾驶变质车的拓扑结构并描述了重建过程。此外，还对变形车重构的三个阶段（支撑、提升和站立）进行了运动学分析。基于螺旋理论和拉格朗日方程建立了运动学和相应的动力学模型。然后对无人变质车进行了 Matlab/Simulink 模拟。仿真结果描述了系统重构的运动行为，说明所建立的运动学和动力学模型是合理的。最后通过Adams虚拟样机仿真进一步验证了上述运动学和动力学模型的正确性。上述研究结果为今后研究无人驾驶变质车改造过程中的稳定性控制提供了坚实的基础。通过Adams虚拟样机仿真进一步验证了上述运动学和动力学模型的正确性。上述研究结果为今后研究无人驾驶变质车改造过程中的稳定性控制提供了坚实的基础。通过Adams虚拟样机仿真进一步验证了上述运动学和动力学模型的正确性。上述研究结果为今后研究无人驾驶变质车改造过程中的稳定性控制提供了坚实的基础。