Cable-driven legged landing gear for unmanned helicopter:Prototype design,optimization and performance assessment  

作　　者：TIAN BaoLin GAO HaiBo YU HaiTao SHAN HaoMin HOU JunChen YU HongYing DENG ZongQuan 

机构地区：[1]State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China [2]China Academy of Aerospace Science and Innovation,Beijing 100048,China

出　　处：《Science China(Technological Sciences)》2024年第4期1196-1214,共19页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant No.52175011)。

摘　　要：Unmanned helicopters equipped with adaptive landing gear will dramatically extend their application especially in dealing with challenging terrains.This study presents a novel cable-driven legged landing gear(CLG)with differential transmission for unmanned helicopters in complex landing environments.To obtain the preferred configuration of the legged mechanism,a multi-objective optimization framework for the CLG is constructed by concurrently considering terrain adaptability,landing stability and reasonable linkage of internal forces.The non-dominated sorting genetic algorithmⅡis employed to numerically acquire the optimal scale parameters that guide the mechanical design of the CLG.An unmanned helicopter prototype equipped with the devised CLG is developed with key performance assessment.Experimental results show that the devised CLG can provide energy-efficient support over uneven terrains(totally driven torque demand less than 0.1 N m)in quasi-static landing tests,and favorable terrain adaptability(posture fluctuation of the fuselage less than±1°)in unknown slope landing tests.These exhibited merits give the proposed CLG the potential to enhance the landing performance of future aircraft in extreme environments.

关 键 词：unmanned helicopter adaptive landing gear experimental verification 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V226