Condition analysis of a multicopter carried with passive skid for rough terrain landing

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 sl...

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Autores principales:	Maozheng Xu, Taku Senoo, Takeshi Takaki
Formato:	article
Lenguaje:	EN
Publicado:	SpringerOpen 2021
Materias:	Landing Passive skid Rough terrain Technology T Mechanical engineering and machinery TJ1-1570 Control engineering systems. Automatic machinery (General) TJ212-225 Machine design and drawing TJ227-240 Technology (General) T1-995 Industrial engineering. Management engineering T55.4-60.8 Automation T59.5 Information technology T58.5-58.64
Acceso en línea:	https://doaj.org/article/975de54b3a2e4be7a0a753995fecbf45
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spelling	oai:doaj.org-article:975de54b3a2e4be7a0a753995fecbf452021-11-28T12:03:58ZCondition analysis of a multicopter carried with passive skid for rough terrain landing10.1186/s40648-021-00212-62197-4225https://doaj.org/article/975de54b3a2e4be7a0a753995fecbf452021-11-01T00:00:00Zhttps://doi.org/10.1186/s40648-021-00212-6https://doaj.org/toc/2197-4225Abstract 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.Maozheng XuTaku SenooTakeshi TakakiSpringerOpenarticleLandingPassive skidRough terrainTechnologyTMechanical engineering and machineryTJ1-1570Control engineering systems. Automatic machinery (General)TJ212-225Machine design and drawingTJ227-240Technology (General)T1-995Industrial engineering. Management engineeringT55.4-60.8AutomationT59.5Information technologyT58.5-58.64ENROBOMECH Journal, Vol 8, Iss 1, Pp 1-12 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Landing Passive skid Rough terrain Technology T Mechanical engineering and machinery TJ1-1570 Control engineering systems. Automatic machinery (General) TJ212-225 Machine design and drawing TJ227-240 Technology (General) T1-995 Industrial engineering. Management engineering T55.4-60.8 Automation T59.5 Information technology T58.5-58.64
spellingShingle	Landing Passive skid Rough terrain Technology T Mechanical engineering and machinery TJ1-1570 Control engineering systems. Automatic machinery (General) TJ212-225 Machine design and drawing TJ227-240 Technology (General) T1-995 Industrial engineering. Management engineering T55.4-60.8 Automation T59.5 Information technology T58.5-58.64 Maozheng Xu Taku Senoo Takeshi Takaki Condition analysis of a multicopter carried with passive skid for rough terrain landing
description	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.
format	article
author	Maozheng Xu Taku Senoo Takeshi Takaki
author_facet	Maozheng Xu Taku Senoo Takeshi Takaki
author_sort	Maozheng Xu
title	Condition analysis of a multicopter carried with passive skid for rough terrain landing
title_short	Condition analysis of a multicopter carried with passive skid for rough terrain landing
title_full	Condition analysis of a multicopter carried with passive skid for rough terrain landing
title_fullStr	Condition analysis of a multicopter carried with passive skid for rough terrain landing
title_full_unstemmed	Condition analysis of a multicopter carried with passive skid for rough terrain landing
title_sort	condition analysis of a multicopter carried with passive skid for rough terrain landing
publisher	SpringerOpen
publishDate	2021
url	https://doaj.org/article/975de54b3a2e4be7a0a753995fecbf45
work_keys_str_mv	AT maozhengxu conditionanalysisofamulticoptercarriedwithpassiveskidforroughterrainlanding AT takusenoo conditionanalysisofamulticoptercarriedwithpassiveskidforroughterrainlanding AT takeshitakaki conditionanalysisofamulticoptercarriedwithpassiveskidforroughterrainlanding
_version_	1718408214333095936

Condition analysis of a multicopter carried with passive skid for rough terrain landing

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