Abstract
In order to comprehensively evaluate the landing performance of vertical-landing vehicle and increase the probability of successful landing, a sagittal dynamics model of legged-type vertical landing vehicle on landing process was established, including the elastic-plastic collision model of multi-rigid body system to predict discontinuous process. The displacement-velocity diagram is used to investigate the influence mechanism of the initial tilt angle and the initial height on the trajectory of the center of mass of the vertical-landing vehicle in various typical landing modes. In addition, the leg buffering behavior of the vehicle is investigated. The buffering mechanism of touched-down legs of different time periods under different initial conditions were accordingly explored and analyzed. The results showed that the buffers in legs that touch the ground first are more sensitive to changes of the falling height, while the initial tilt angle has more influence on the buffers of legs that subsequently touch the ground more. Unlike that the influence of the initial tilt angle on the attitude recovery of the vehicle will continue throughout the landing process, and gradually decease as the convergence, the effect of the initial falling height mainly focused on the initial and final stages of the landing process. The phase diagram is a favorable angle for investigating and analyzing the effect of initial conditions on the entire landing process of the vertical landing vehicle.
Yingchao Wang—Female, Doctor Candidate.
Haitao Yu—Male, Doctor, Lecturer, Master Instructor.
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Wang, Y., Yu, H., Gao, H., Liu, Z., Deng, Z. (2021). Effect Analysis of Initial Conditions on Landing Performance of Vertical-Landing Vehicle. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_46
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DOI: https://doi.org/10.1007/978-3-030-89092-6_46
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