关键词: 仿生腿, 起落装置, 构型设计, 运动学, 动力学, 缓冲着陆

Abstract: Unmanned helicopter played an extremely important role in combat, patrol, anti-submarine, rescue and transportation, but the traditional landing gear had higher requirements for take-off and landing environment. Aiming at the problems of adaptive take-off and landing on complex terrains, landing and parking on ship surfaces in harsh sea conditions, and improving survivability of emergency collision, a bionic legs landing gear system of unmanned helicopters was proposed based on multi-link mechanism, and the control algorithm was studied and the modeling and simulation were completed. First from bionic legs quantity, distribution form, DOF configuration and needed to complete the function of the legs, the bionic legs landing gear machinery configuration was analyzed, and the kinematics and dynamics analysis of the hexapod landing gears were completed, and then aiming at the adaptive landing processes of the bionic legs landing gear, buffer landing and terrain modeling algorithm were studied. Finally, a virtual prototype simulation model was built based on the control algorithm to effectively complete the landing simulation and prototype test of various terrains. The results show that the design of the bionic legs landing gear structure and control algorithm may achieve dynamic adaptive landing and smooth buffering during the landing processes.

Key words: bionic leg, landing gear, configuration design, kinematics, dynamics, buffer landing