A virtual parallel model for the buffer landing of multi-legged landing gear

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL Mechanism and Machine Theory Pub Date : 2024-07-06 DOI:10.1016/j.mechmachtheory.2024.105724

Jian Liu , Dan Zhang , Chunxu Tian , Weizhan Ma , Zhihao Xia

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Abstract

Small offshore platforms rock and heave under the impact of waves. The adaptive landing gear should reduce the impact force between the landing legs and the platform while keeping the unmanned aerial vehicle (UAV) level. In this paper, a general virtual parallel model is proposed to describe the coupling relationship between multi-legged landing gear and the platform during buffer landing. Based on Lie group theory, a method of constructing various types of landing gear as a virtual parallel model is proposed. The landing gear base, the legs and the ground can be established as a unified parallel mechanism. Based on the virtual parallel model, the landing stiffness is established to evaluate the buffering performance of the landing gear in the pre-landing posture. A buffer landing surface which can make the landing gear obtain superior buffering effect can be obtained in the workspace through the case analysis. A buffer landing strategy based on virtual parallel model is established. The feasibility and effectiveness of the control strategy is verified by simulations and prototype experiments.

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多足起落架缓冲着陆的虚拟并行模型

在海浪的冲击下，小型海上平台会摇晃和起伏。自适应起落架应减少起落腿与平台之间的冲击力，同时保持无人飞行器（UAV）的水平。本文提出了一种通用的虚拟并联模型来描述缓冲着陆时多支腿起落架与平台之间的耦合关系。基于李群理论，提出了一种将各种类型的起落架构建为虚拟平行模型的方法。可以将起落架底座、支腿和地面建立为统一的并联机构。在虚拟并联模型的基础上，建立着陆刚度，以评估着陆前姿态下起落架的缓冲性能。通过实例分析，可在工作空间中获得能使起落架获得优异缓冲效果的缓冲着陆面。建立了基于虚拟平行模型的缓冲着陆策略。通过仿真和原型实验验证了控制策略的可行性和有效性。

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry