1A2-C22 飛行ビーグルのための多脚型対地適応システムの研究 : 一脚モデルの動作試験

概要

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The conventional landing gears of aerial vehicle require flat dedicated facilities such as landing fields. For the smooth landing on rough terrains, a system with multiple legs which is driven actively by actuators and changes the mechanical impedance is suitable. For the soft landing, the mechanism of the leg needs to be able to change its falling velocity gradually from fast to slow. In order to satisfy this condition, a new mechanism with parallel link has been developed. In this paper, on the one leg model of this concept, the design and performance are discussed.