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

文献类型：期刊论文

作者Liu, Jian1; Zhang, Dan2; Tian, Chunxu3; Ma, Weizhan3; Xia, Zhihao3
刊名MECHANISM AND MACHINE THEORY
出版日期2024-09-01
卷号200页码:27
关键词Virtual parallel model Multi-legged landing gear Lie group theory Landing stiffness Buffer landing strategy
ISSN号0094-114X
DOI10.1016/j.mechmachtheory.2024.105724
通讯作者Zhang, Dan(dan.zhang@polyu.edu.hk)
英文摘要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 prelanding 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.
WOS关键词IMPEDANCE CONTROL ; DESIGN ; MECHANISMS
资助项目Research Institute for Artificial Intelligence of Things (RIAIoT) at the Hong Kong Polytechnic University ; Research Institute for Advanced Manufacturing (RIAM) at the Hong Kong Polytechnic University ; Research Institute for Intelligent Wearable Systems (RI-IWEAR) at the Hong Kong Polytechnic University ; Research Centre of Textiles for Future Fashion (RCTFF) at the Hong Kong Polytechnic University
WOS研究方向Engineering
语种英语
WOS记录号WOS:001268289900001
出版者PERGAMON-ELSEVIER SCIENCE LTD
资助机构Research Institute for Artificial Intelligence of Things (RIAIoT) at the Hong Kong Polytechnic University ; Research Institute for Advanced Manufacturing (RIAM) at the Hong Kong Polytechnic University ; Research Institute for Intelligent Wearable Systems (RI-IWEAR) at the Hong Kong Polytechnic University ; Research Centre of Textiles for Future Fashion (RCTFF) at the Hong Kong Polytechnic University
源URL[http://ir.ia.ac.cn/handle/173211/59199]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
通讯作者Zhang, Dan
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China
2.Hong Kong Polytech Univ, Dept Mech Engn, Hong Kong, Peoples R China
3.Fudan Univ, Inst AI & Robot, Acad Engn & Technol, Shanghai 200433, Peoples R China
推荐引用方式
GB/T 7714		 Liu, Jian,Zhang, Dan,Tian, Chunxu,et al. A virtual parallel model for the buffer landing of multi-legged landing gear[J]. MECHANISM AND MACHINE THEORY,2024,200:27.
APA Liu, Jian,Zhang, Dan,Tian, Chunxu,Ma, Weizhan,&Xia, Zhihao.(2024).A virtual parallel model for the buffer landing of multi-legged landing gear.MECHANISM AND MACHINE THEORY,200,27.
MLA Liu, Jian,et al."A virtual parallel model for the buffer landing of multi-legged landing gear".MECHANISM AND MACHINE THEORY 200(2024):27.

入库方式： OAI收割

来源：自动化研究所

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