Analysis of adaptive landing performance of bionic four-legged hexacopter UAV

Abstract

The classic sled-type landing gear is difficult to take off and land in challenging terrain，with the widespread usage of rotor unmanned aerial vehicle（UAV）in both civil and military domains. A two-stage buffered adaptive landing gear similar to a human leg is designed to increase the landing area and application range of rotor UAV. An adaptive landing gear attitude adjustment strategy is proposed by analyzing the positive and negative kinematics of the bionic leg. A bionic four-legged hexacopter UAV landing dynamics model is established，the landing dynamics simulation is carried out using the multi-body dynamics software simcenter 3D，and the model is com pared with the conventional sled landing gear. The results show that the two-stage cushioned adaptive landing gear in the landing leg style and its attitude adjustment strategy can reduce the roll angle by 95.69% and overload coefficient by 34.06%. The two-stage cushioned adaptive landing gear has excellent shock absorption and cushioning capability in complex terrain.

Keywords

• rotor uav
• bionic landing legs
• adaptive landing gear
• landing dynamics