Retractable Undercarriage Design for a Quadcopter

Abstract

In the current paper, design of a foldable undercarriage for quadcopter is suggested and investigated. The deploying/retracting mechanism comprises a four-bar linkage. The mechanism lowermost configuration forms a kinematic lock. A solution to complex variable equations has been worked out to put together the mechanism geometry. In addition, a 3D CAD model has been developed to visualize the design better.