基于多旋翼无人机的多连杆仿生起落架设计与仿真  

Design and Simulation of Multi-link Bionic Landing Gear Used on UAVs

作　　者：任佳[1] 王计真 杨正权[1] 刘小川[1] Ren Jia;Wang Jizhen;Yang Zhengquan;Liu Xiaochuan(Aviation Key Laboratory of Science and Technology on Structures Impact Dynamics,Aircraft Strength Research Institute of China,Xi’an 710065,China)

机构地区：[1]中国飞机强度研究所结构冲击动力学航空科技重点实验室,陕西西安710065

出　　处：《航空科学技术》2023年第6期77-85,共9页Aeronautical Science & Technology

基　　金：航空科学基金(2017ZA23001;20184123011)。

摘　　要：传统的多旋翼无人机着陆架存在对着陆场地适应性差、智能化程度低的缺点,设计一种具备复杂地形自适应起降的着陆装置对多旋翼无人机的发展具有重要意义。本文设计了一种基于多连杆混联机构的仿生起落架,针对单腿的设计构型进行驱动力矩分析与机构优化,在此基础上完成结构设计,并以多旋翼无人机为对象,设计了一套四腿仿生起落架系统,针对四腿机构进行典型地形着陆仿真。结果表明,多连杆仿生起落架设计方法可应用于多旋翼无人机的起落架设计中,并实现多旋翼无人机在非结构地形的自适应着陆。Traditional landing gear of the UAVs has the shortages of poor terrain adaptability and low level of intelligence.It is important to design a kind of landing gear with function of complex terrain adaptive takeoff and landing for the multi-rotor UAV development.A kind of landing gear is designed based on multi-link hybrid bionic leg structure.The design configuration of the bionic leg is given based on the drive torque analysis and optimization while finishing structure design.Based on the multi-rotor UAV,a four-leg landing gear system is designed,and simulation of landing process is done aiming at typical terrain.The research results show that the design method of terrain adaptive landing gear with bionic leg structure can be applied to the design of multi-rotor UAV landing gear,and it has the ability of adaptive landing on unstructured terrain.

关 键 词：多旋翼无人机 仿生起落架 设计 仿真 

分 类 号：V285[航空宇航科学技术]