仿生腿式地形自适应起落架构型与动力学分析

Mechanism Configuration and Dynamic Analysis of Bionic Legged Terrain Adaptive Landing Gear

针对垂直起降飞行器在复杂地形环境下实现平稳着陆的难题,利用仿生学设计理念,以无人直升机为对象,设计了一种基于多连杆机构设计的仿生腿式起落架系统。通过对腿部机构进行运动学分析和动力学分析,建立相关模型,在此基础上,进行仿生腿式起落架的运动控制。首先,从无人直升机的着陆稳定性和承载能力出发,对仿生腿式起落架机械构型进行分析,并介绍了腿部各部分结构。然后,针对仿生腿腿部结构,通过几何法完成对腿部正运动学和逆运动学的求解,建立足端位置与驱动关节角度之间的映射关系。最后,基于运动学模型及四连杆运动学特性,对机体和单腿进行了动力学分析,并建模。通过建立的运动学和动力学模型,结合设计的起落架结构,完成动力学仿真,实现了仿生腿式起落架在复杂地形环境下的平稳着陆,验证了结构的合理性和模型的准确性。

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.