直升机腿式起落架机构动力学研究

Research on dynamics of helicopter leg landing gear mechanism

多用途、智能化和强地形适应性是未来直升机发展的重要趋势。起落架是保障直升机起降安全的关键部件,传统起落架的地形适应能力较差,针对直升机在复杂地形环境下如何实现平稳着陆的难题,利用仿生学设计理念设计一种腿式起落架系统。首先从腿式起落架设计需求出发,对起落架构型进行分析并完成腿部结构设计;然后基于设计的腿部机构,完成其运动学分析和动力学分析,建立相应模型,以此作为腿式起落架运动控制的基础;最后在实验室完成腿式起落架的运动测试,证明了结构设计的合理性和着陆的稳定性。

Multipurpose,intelligent,and strong terrain adaptability are important trends in the development of heli⁃copters in the future.The landing gear is a key component to ensure the safety of helicopter takeoff and landing.Due to the poor terrain adapt-ability of the traditional landing gear,a leg landing gear system is designed using the bionics design concept to solve the problem of the helicopter's smooth land observation in complex terrain environ⁃ment.Starting from the design requirements of leg landing gear,the landing architecture is analyzed and the leg structure design is completed.Then,based on the designed leg mechanism,the kinematics analysis and dynamics analysis are completed,and the relevant models are established as the basis for the motion control of the leg landing gear.Finally,motion testing of the leg landing gear is completed in the laboratory,proving the rationality of the structural design and the stability in the lading.