A Multi-legged Terrain Adaptive Take-Off and Landing Ducted Aircraft

An unmanned rotorcraft usually faces the risk of airframe capsizing when taking off or landing on uneven terrains in the wild. A new multi-legged adaptive take-off and landing ducted aircraft is put forward which can adapt to various terrains. The configuration design of the aircraft is proposed based on the duct and the bionic multi-legged robot. Then, the kinematics of the adaptive take-off and landing configuration is analyzed. The adaptive adjustment scheme of the aircraft which focuses on the semi-slope and the full-slope terrain models is designed. The multibody dynamic model of the aircraft is established in Simcenter3D, and the attitude adjustment and drop simulation under the two terrains are carried out. The results show that the torque of each joint is within a reasonable range and the capability of adaptation to terrains is proved. The adaptive aircraft prototype is verified that it can land safely on a 15° full-slope terrain by the attitude adjustment experiments.