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| Mechanism Configuration and Dynamic Analysis of Bionic Legged Terrain Adaptive Landing Gear |
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| DOI：10.7643/issn.1672-9242.2022.09.005 |
| KeyWord:bionic leg landing gear system mechanism configuration kinematics dynamics |
| Author | Institution |
| LIU Hao-lin |
Laboratory of Aero Structures Impact Dynamics, AVIC Aircraft Strength Research Institute, Xi'an , China |
| LIU Xiao-chuan |
Laboratory of Aero Structures Impact Dynamics, AVIC Aircraft Strength Research Institute, Xi'an , China |
| REN Jia |
Laboratory of Aero Structures Impact Dynamics, AVIC Aircraft Strength Research Institute, Xi'an , China |
| WANG Ji-zhen |
Laboratory of Aero Structures Impact Dynamics, AVIC Aircraft Strength Research Institute, Xi'an , China |
| YANG Zheng-quan |
Laboratory of Aero Structures Impact Dynamics, AVIC Aircraft Strength Research Institute, Xi'an , China |
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| Abstract: |
| This paper aims to achieve a steady landing of a vertical take-off and landing aircraft in complex terrain environment. Taking the unmanned helicopter as the object, a bionic leg landing gear system based on the design of multi-link mechanism is designed by using the concept of bionics. Through the kinematics and dynamics analysis of the leg mechanism and related established modeling, the motion control of the bionic leg landing gear is carried out. Firstly, from the landing stability and carrying capacity of unmanned helicopter, the mechanical configuration of bionic leg landing gear is analyzed and the structure of each part of the leg is introduced. Then, according to the bionic leg structure, the forward kinematics and inverse kinematics of the leg are solved by the geometric method, and the mapping relationship between the foot position and the driving joint angle is established. Then based on the kinematic model and the kinematic characteristics of the four-bar linkage, the dynamics analysis and modeling of the body and the single leg are carried out. The kinematics and dynamics model are combined with the designed landing gear structure to complete the dynamics simulation. Therefore, the steady landing of the bionic leg landing gear in complex terrain environment is realized to verify the rationality of the structure and accuracy of the model. |
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