Abstract
This paper describes the condition analysis of a multicopter carried with a proposed device for rough terrain landing. Based on a multicopter carried with an electrical robot arm for grasping, we proposed a method to determine whether the skid-carried multicopter can land on an arbitrary slope or not. We established the static model of the entire device, and analyzed the conditions under which the arm and skid can contact the arbitrary plane and the COG (Center of Gravity), which includes the mass of passive skid, multicopter body and each link of the robot arm. Further, we proposed a method to analyze whether the entire device can land stably. By analyzing that the projection of the entire device’s COG is inside or outside the triangle, that comprises the contact point between the device and the uneven ground, we can determine whether the device can land successfully and the condition for capable landing is concluded. After the numerical analysis, the verification experiment is conducted, and by comparing the result of analysis with the experiment, the accuracy of the analysis can be demonstrated.
Highlights
Owing to the outstanding advantages such as light weight and low cost, multicopters are utilized frequently in fields
Analysis of the landing conditions implicated that the feasible range for multicopter landing, and theoretically, we can determine the possibility of landing on a plane with different inclination angles according to the proposed judgment method
In this study, we proposed a method to determine whether or not the skid-carried multicopter can land on an uneven ground
Summary
Owing to the outstanding advantages such as light weight and low cost, multicopters are utilized frequently in fields. Multicopters perform tasks that humans cannot realize with high precisions, such as rescue, agriculture, inspection [1, 2], and express delivery [3], etc. People are enjoying the innumerable conveniences that multicopters provide, more researchers are beginning to realize the importance of landing condition to the multicopter. Suitable landing conditions can be important, especially in several fields, such as inspection and express delivery, otherwise the multicopter may crash, and cause mission failure. For multicopters, a flat ground is the best condition for landing when conducting missions. Landing on flat ground is only in ideal situations.
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