Condition analysis of a multicopter carried with passive skid for rough terrain landing

This paper describes the condition analysis of a multicopter carried with a proposed device for rough terrain landing. Based on a multicopter carried with an electrical robot arm for grasping, we proposed a method to determine whether the skid-carried multicopter can land on an arbitrary slope or not. We established the static model of the entire device, and analyzed the conditions under which the arm and skid can contact the arbitrary plane and the COG (Center of Gravity), which includes the mass of passive skid, multicopter body and each link of the robot arm. Further, we proposed a method to analyze whether the entire device can land stably. By analyzing that the projection of the entire device’s COG is inside or outside the triangle, that comprises the contact point between the device and the uneven ground, we can determine whether the device can land successfully and the condition for capable landing is concluded. After the numerical analysis, the verification experiment is conducted, and by comparing the result of analysis with the experiment, the accuracy of the analysis can be demonstrated.