Abstract: The bionic leg landing gear system based on multilink configuration was designed to solve the problems of low intelligence and poor adaptability of traditional unmanned helicopter landing gear systems when landing on complex terrains, as an effective supplement to the original fixed landing gear. Based on the analysis of application scenario requirements, this article provides the design concept and overall configuration of a bionic leg landing gear, and conducts research on system integration and verification technology on this basis. Firstly, based on the six-leg design scheme, the structural design and drive/control system design method of the bionic leg landing gear are given. Then, for a certain type of unmanned helicopter for verification, a physical prototype of the bionic leg landing gear was constructed, and the collaborative control and fusion design method of the flight control-leg control-terrain recognition system was proposed. Finally, based on this prototype, the tests that the whole machine vibration characteristics test and ground resonance analysis, carrying capacity test in laboratory, field flight landing verification are completed. These researches indicate that, the multilink bionic leg landing gear can achieve a lightweight design that accounts for no more than 25% of the maximum takeoff weight, and can land on unstructured terrain with no more than 200 mm undulations. And through its drive/control design method, the buffering of the landing gear landing process and the stability control of the fuselage are effectively realized. Compared with the traditional landing gear, this kind of landing gear has the advantages of fordable deployment, landing attitude adjustment, and complex terrain adaptation.

Key words: bionic leg landing gear, terrain adaptation, system integration, cooperative control, test verification, prototype