The Analysis And Design Of The New Functional Four-rotor UAV

Quadrocopter with a small bulk and flexible aerial ability, can adapt to a more complex and dangerous environment, that becomes one of the hot of UAV research.For some special environment that aircraft can not fly and improving aircraft concealment, a samll multi-function aircraft is proposed that can walk either on the ground but fly in the air. Designed four legs make the aircraft walk on the ground as a quadruped robot and can serve as landing gear to land on the ground of the complex rugged mountainous terrain after the earthquake in order to detect more accurate information of the ground, that makes the aircraft have a glamorous future in military and serious accident.Firstly, the mechanical structure of the aircraft is designed and the models of the single leg and the buffering device are built up. At the same time, the degree of freedom is analyzed and the inverse and forward position is solved. At the last the working sapce of a single leg is analyzed.Secondly, the evaluation index of stability of the aircraft designed with the series leg mentioned above is given through the analysis of the stability.Meanwhile, the walking gait in static condition is planned, and an effective foot trajectory of the single leg mechanism is planned by the method of composite cycloid trajectory planning. The state of aircraft walking with series mechanism are simulated by ADAMS, verifying the correctness and validity of the kinematic model.Thirdly, the dynamics models of the state of the aircraft flight and landing is established and the dynamic model of the process of unfolding and elongation of the legs, proving the correctness of models by MATLAB and ADAMS. On the basis of kinetic model, the controlling strategy that can control effection on position and orientation of the body that leg movements lead to is feedforward-feedback controlling method, verifying its validity by MATLAB.Finally, the performance of the buffering device is analyzed and the model of the mechanical structure contacting with the ground. The cunshion effect of the device is simulated by ADAMS that shows good performance.