Quadrotor with limited flight time due to battery level can have the extended mission life by applying energy harvesting technology. Bio-inspiration from the birds' locomotion of flight and perch-and-stare can make energy consumption efficient, and energy harvesting technology can generate energy. In order to charge the battery with solar power, the drones are required to be in a position without shade. In the mountainous terrain, a novel mechanism is required in order to be located stably at the top of the tree or the inclined rock. In this study, we propose an analysis of the origami structure and the concept design of the perching mechanism with two stable equilibrium states. The origami structure composed of compliant material can be applied to the perching mechanism that can be locked passively. Moreover, the experimental results of the trajectory and perching test are discussed.

Abstract
 1. 서 론
 2. 메커니즘 디자인
  2.1 쌍안정 종이접기 구조
  2.2 구조 분석
  2.3 기계요소 설계
 3. 실험 및 결과
  3.1 실제 메커니즘 궤적 확인
  3.2 퍼칭 테스트
 4. 결 론
 References

• 최홍철(Lecturer, KMA) | Hong-Cheol Choi
• 신내호(Professor, Physics and Chemistry, Korea Military Academy) | Nae-Ho Shin Corresponding author