Conventional adaptive landing gear systems for quadrotors often rely on multi-degree-of-freedom mechanisms or complex control architectures, increasing cost and implementation complexity [1,3] in contrast, this work proposes a simplified and optimized 1-DOF solution aimed at achieving effective terrain adaptability with reduced actuation effort and low-cost hardware [2] this research also presents the development of an adaptive landing gear for a Quanser Drone~2. A double Peaucellier-Lipkin mechanism provides precise one-degree-of-freedom vertical motion [1]. System optimization is performed using the Univariate Marginal Distribution Algorithm (UMDA) to synthesize both the mechanical geometry and control parameters, thereby minimizing the actuation force required during landing contact [2]. A functional prototype was fabricated via 3D printing and instrumented with force sensors. A servomotor, governed by an Arduino controller, actuates the mechanism. Validation centered on comparing the dynamic response of the physical prototype against numerical models developed in the Amesim simulation environment [3]. Experimental tests confirm the mechanism's capability to manage impact energy and maintain structural stability. Measured reaction forces and torque efficiency show high correlation with simulated predictions. The optimized double Peaucellier–Lipkin linkage, identified using the UMDA algorithm, enhances quadrotor landing stability on uneven terrain. The close agreement between Amesim simulations and experimental results validates the proposed design methodology.