Computational Design of a Bird-Inspired Perching Landing Gear Mechanism

2018 ◽  
Author(s):  
Paul M. Nadan ◽  
Christopher L. Lee
Keyword(s):  
Computational Model ◽  
Cross Section ◽  
Computational Design ◽  
Landing Gear ◽  
Model Based ◽  
Small Uav ◽  
Gear Mechanism ◽  
Working Principle

To support the design of a mechanism with two opposing, underactuated, multi-segmented feet that enables a small UAV to grasp and perch upon a branch or similar structure, a hybrid empirical-computational model has been developed that can be used to predict whether the mechanism can kinematically grasp structures with a range of cross-section shapes and sizes in various orientations and to quantify the forces exerted by the grasp. The model, based on experimentally-determined parameters, relates the curvature of the feet to the displacement and tension of the cable tendon which is related in turn to the weight of the UAV. The working principle of the landing gear follows the anatomy of birds that grasp and perch as tendons in their legs and feet are tensioned. Results demonstrate how the model can be used to simulate and evaluate grasping in order to determine the size and weight of a UAV for landing and perching upon a range of target structures.

A Bird-Inspired Perching Landing Gear System1

2019 ◽  
Vol 11 (6) ◽  
Author(s):  
Paul M. Nadan ◽  
Tatiana M. Anthony ◽  
Duncan M. Michael ◽  
Jeffrey B. Pflueger ◽  
Manik S. Sethi ◽  
...  
Keyword(s):  
Computational Model ◽  
Minimum Weight ◽  
Landing Gear ◽  
Contact Forces ◽  
Gear System ◽  
Prototype System ◽  
Cross Sectional ◽  
Modeling Simulation ◽  
Working Principle ◽  
Shape And Size

Abstract The design, modeling, simulation, and testing of a landing gear system that enables a UAV to perch on an object or surface is presented here. The working principle of the landing gear is inspired by the anatomy of birds that grasp and perch as tendons in their legs and feet are tensioned. In a similar fashion, as the UAV sets down on a structure, its weight tensions a cable which actuates opposing, flexible, multi-segment feet to enclose the target. To analyze the grasping capability of the design, a hybrid empirical–computational model is developed that can be used to simulate the kinematics of the system as it grasps objects of various cross-sectional shapes and sizes. The model relates the curvature of the feet to the displacement and tension of the cable tendon. These quantities are then related to the weight of the UAV through the leg geometry. It also evaluates enclosure and calculates contact forces to quantitatively characterize the grasp. Results demonstrate how the model can be used by designers to determine how a UAV can perch upon a structure of a given shape and size. If perched, the minimum weight required to maintain its position is calculated. A prototype system was fabricated, analyzed, and tested on a radio-controlled hexacopter. Experiments show that the landing gear enables the hexacopter to land, perch, and takeoff from a variety of objects. Finally, we begin to investigate the scalability of the concept with a smaller, lighter design.

scholarly journals A computational model-based approach for atlas construction of aortic Doppler velocity profiles for segmentation purposes

2018 ◽  
Vol 40 ◽  
pp. 23-32 ◽  
Author(s):  
Vedrana Baličević ◽  
Hrvoje Kalinić ◽  
Sven Lončarić ◽  
Maja Čikeš ◽  
Bart Bijnens
Keyword(s):  
Computational Model ◽  
Velocity Profiles ◽  
Doppler Velocity ◽  
Model Based ◽  
Atlas Construction

scholarly journals Numerical Continuation Analysis of a Dual-sidestay Main Landing Gear Mechanism

2012 ◽  
Author(s):  
James Knowles ◽  
Bernd Krauskopf ◽  
Mark Lowenberg ◽  
Simon Neild ◽  
P. Thota
Keyword(s):  
Landing Gear ◽  
Numerical Continuation ◽  
Gear Mechanism

scholarly journals The creation of a computational model of corrugated beams using the author’s program “GOPRO”

2018 ◽  
Vol 251 ◽  
pp. 04007 ◽  
Author(s):  
Vadim Alpatov ◽  
Alexey Lukin ◽  
Irina Laguta
Keyword(s):  
Finite Element ◽  
Computational Model ◽  
Cross Section ◽  
Geometrical Shape ◽  
File Format ◽  
Element Mesh ◽  
Automated Generation ◽  
Numerical Studies ◽  
Geometrical Scheme ◽  
The Web

The program «Gofro» is intended for the automated generation of data on the geometrical scheme of the beam with corrugated or plane web for further use in design complexes. The program has got a window interface, and it consists of one module for the input of feed da-ta, for calculation and for the display of its results in txt file format. The program offers a possibility to choose the outline of the structure, the profile of the web, the type of cross-section, and to set other parameters of the structure. When building up the model with the help of the author program «Gofro» and GMSH preprocessor for the automatic genera-tion of finite element mesh, the correctness of geometrical shape of elements is monitored by the algorithms that are input in the preprocessor. The author compares the time re-quired to create the models using the author program and GMSH preprocessor and using the standard resources of «Lira» software system. The authors performed numerical studies of various I-beams created in the program «GOPRO».

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