Modelling and control of helicopter robotic landing gear for uneven ground conditions

Boix, Daniel Melia; Goh, Keng; McWhinnie, James

doi:10.1109/red-uas.2017.8101644

Cited by 12 publications

(7 citation statements)

References 12 publications

(14 reference statements)

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“…Helicopters are prone to dynamic rollover, when landed on highly sloped terrain [60] or shipboard landing [53]. Robotic landing gear has since been included for expanded landing capabilities on other rotorcraft types and scales [61][62][63].…”

Section: Robotic Landing Gearmentioning

confidence: 99%

Vehicle Design in Aerial Robotics

Butler

Costello

2021

Curr Robot Rep

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Section: Robotic Landing Gearmentioning

confidence: 99%

Vehicle Design in Aerial Robotics

Butler

Costello

2021

Curr Robot Rep

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“…Here is needed research on active control methods or passive landing (landing gear design for example) [217].…”

Section: Take-off and Landing Design Considerationsmentioning

confidence: 99%

Snake Aerial Manipulators: A Review

et al. 2020

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In this document, a review about snake aerial manipulators is presented. The most common mechatronical implications found in their design are described. The text is presented to the reader as a set of modules, this include topics about structural dynamics, aerodynamics, power and energy, propulsion, thrust-vectoring and level of autonomy of aircrafts, also highlights about use of sensors, control methods and flight schemes. INDEX TERMS Aerial manipulator, cooperative systems, UAS. I. INTRODUCTIONTo follow it is convenient to expose a brief introduction to coupled and decoupled task aerial manipulation concepts. Which are the basis of snake aerial manipulators. Both concepts are widely described in [1]-[5]. A. AERIAL MANIPULATION OF DECOUPLED AND COUPLED TASKS II. MECHANICAL CONSIDERATIONS, POWER AND AERODYNAMICS A. COMMON COMPONENTSGuiding element, base element, reference element or branching element: All these are synonymous and they are defined as a reference point from which at least 2 arms, also called kinematic chains, fork.Kinematic chain: successive union of engine elements (multicopters, individual propellers and/or motors) with elements of transmission or propagation of movement (bar linkages), by using connecting elements (joints or the motors by themselves).Engine elements: they are the multicopter aircraft or individual propellers which, in addition to allowing the hovering and flight of the whole system, produce the rotational movements necessary to transmit and propagate to more complex movements through the kinematic chains with or without the assistance of auxiliary motors. Table.2 TABLE 2. Kinds of engines for snake aerial manipulators.Elements of transmission or propagation: they are bar linkages that connect one drone to other or one propeller to other and allow the chained transmission of their rotations and translations Joint elements: the driving elements with the linkages are connected through joints. They allow the general mobility and the propagation or suppression of one or more relative movements. They could be any type of bearing, for example standard bearings, ball-joints (which particularly allows three-dimensional mobility), rigid bearings (like bronze bushings), restricted rotation bearings (that have no free rotation of yaw movement as a cardan joint or a locked ball-joint), magnetic joints, clutches (they allow a variable type connection), or even auxiliary motors by themselves according to the usage and design Damping elements: they are used to control or suppress unwanted movements such as bumps, and vibration or misalignment between the driving elements, the transmission elements and the joints. Examples are rubber shock-absorbers or flexible couplings Power elements: they allow the aircraft and the auxiliary engine elements to be energized. Examples are batteries, electrical extension cords, power cells, solar cells etc.

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“…The investigation of such a system was explored using a multibody dynamics simulation tool. An exhaustive study on the modeling of an articulated robot landing gear was given in [31]. Concerning the dynamic landing response, a study dealing with the analysis of the helicopter-terrain interaction is carried out in [32]; this work analyzed the significant aspects related to the interaction between rotorcrafts and the terrain using a typical medium weight helicopter, with detailed wheel landing gear and full rotor dynamics, during significant maneuvers.…”

Section: State Of the Artmentioning

confidence: 99%

On the Evaluation of a Coupled Sequential Approach for Rotorcraft Landing Simulation

Cristiani

Colombo

Zieliński

et al. 2020

Sensors

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Maximum loads acting on aircraft structures generally arise when the aircraft is undergoing some form of acceleration, such as during landing. Landing, especially when considering rotorcrafts, is thus crucial in determining the operational load spectrum, and accurate predictions on the actual health/load level of the rotorcraft structure cannot be achieved unless a database comprising the structural response in various landing conditions is available. An effective means to create a structural response database relies on the modeling and simulation of the items and phenomena of concern. The structural response to rotorcraft landing is an underrated topic in the open scientific literature, and tools for the landing event simulation are lacking. In the present work, a coupled sequential simulation strategy is proposed and experimentally verified. This approach divides the complex landing problem into two separate domains, namely a dynamic domain, which is ruled by a multibody model, and a structural domain, which relies on a finite element model (FEM). The dynamic analysis is performed first, calculating a set of intermediate parameters that are provided as input to the subsequent structural analysis. Two approaches are compared, using displacements and forces at specific airframe locations, respectively, as the link between the dynamic and structural domains.

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Modelling and control of helicopter robotic landing gear for uneven ground conditions

Cited by 12 publications

References 12 publications

Vehicle Design in Aerial Robotics

Vehicle Design in Aerial Robotics

Snake Aerial Manipulators: A Review

On the Evaluation of a Coupled Sequential Approach for Rotorcraft Landing Simulation

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