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 

作者机构：State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin 150001China China Academy of Aerospace Science and InnovationBeijing 100048China 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2024年第67卷第4期

页      面：1196-1214页

核心收录：

学科分类：08[工学] 082501[工学-飞行器设计] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 

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

主　　题：unmanned helicopter adaptive landing gear experimental verification 

摘      要：Unmanned helicopters equipped with adaptive landing gear will dramatically extend their application especially in dealing with challenging *** study presents a novel cable-driven legged landing gear(CLG)with differential transmission for unmanned helicopters in complex landing *** 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 *** non-dominated sorting genetic algorithmⅡis employed to numerically acquire the optimal scale parameters that guide the mechanical design of the *** unmanned helicopter prototype equipped with the devised CLG is developed with key performance *** 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 *** exhibited merits give the proposed CLG the potential to enhance the landing performance of future aircraft in extreme environments.