Multi-Leg System for Aerial Vehicles

多腿系统作为一种在一般起伏地面上平稳着陆的飞行器和起落架系统，提出了多腿系统的概念。研制了具有对称平行连杆的腿式软着陆机构，并对着陆性能进行了验证。对飞机的飞行性能进行了试验研究，评价了飞机各操纵、作动和动力装置的加载性能，以及飞机在台阶地面上的水平着陆性能。提出了一种减少执行器数量的不规则地形自适应腿机构，并验证了其着陆性能。利用飞行器的自由度。

As a system of aerial vehicle and landing gear for landing smoothly on general undulating ground, a concept of multi-leg system was proposed. Leg mechanisms that have symmetric parallel links for soft landing was developed and landing performance was verified. Flying performance loading every control, actuation and power equipments and landing performance maintaining its body horizontal on stepped ground were evaluated experimentally. Adaptive leg mechanism to irregular terrain with reduced number of actuators was proposed and landing performance was verified. That utilizes the DOFs of the aerial vehicle.