Continuum Twisted Tower Origami Landing Gear for Drones: Design, Modelling and Experiments

With advancements in drones' perception and control, the demand for enhanced mechanical design and integrated physical intelligence in these robots continues to grow. Effective landing gear systems are essential for preserving the integrity of agile, modern drones, where a careful combination of weight, durability, and complexity must be achieved. In this paper, we design, model and validate a continuum twisted tower origami to serve as a shock-absorbing landing gear for drones. Multiple different configurations with varying number of sides in the base and varying heights were 3D printed with a flexible material as monolithic structures. Characterization was performed using quasi-static testing and drone landing impact force measurements. The shock absorption was successfully demonstrated with a reduction of the total impact force of up to 75% for one of the tested configurations compared to a rigid landing gear during drop testing. Taller landing gears led to better impact force reduction, however with more units the whole structure bends excessively. The presented framework allows for scaling the landing structure in multiple ways, enabling the adaption to different drone platforms in the future, while keeping a single-material 3D-printing process without the need for further assembly.