| 引用本文: | 黄海丰,贺威,邹尧,杨昆翰,孙长银.基于线驱转向的仿蝴蝶扑翼飞行机器人系统设计与控制[J].控制理论与应用,2022,39(7):1203~1210.[点击复制] |
| HUANG Hai-feng,HE Wei,ZOU Yao,YANG Kun-han,SUN Chang-yin.System design and control of a butterfly-inspired flapping-wing aerial robot based on wire-driven steering[J].Control Theory and Technology,2022,39(7):1203~1210.[点击复制] |
|
| 基于线驱转向的仿蝴蝶扑翼飞行机器人系统设计与控制 |
| System design and control of a butterfly-inspired flapping-wing aerial robot based on wire-driven steering |
| 摘要点击 3467 全文点击 669 投稿时间：2021-09-10 修订日期：2022-03-26 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2021.10855 |
| 2022,39(7):1203-1210 |
| 中文关键词 仿生机器人 仿蝴蝶扑翼飞行机器人 系统设计 无尾控制 线驱动 |
| 英文关键词 bionic robot butterfly-inspired flapping-wing aerial robot system design tailless control wire-driven |
| 基金项目 国家自然科学基金项目(61933001, 61921004), 北京高校高精尖学科“北京科技大学―人工智能科学与工程”项目资助 |
|
| 中文摘要 |
| 作为一种新型飞行机器人, 仿蝴蝶扑翼飞行机器人模仿自然界蝴蝶的生物结构和飞行方式, 能够有效地融
入并适应复杂环境, 在军民融合领域具有广阔的应用前景. 目前针对仿蝴蝶扑翼飞行机器人的研究大多停留在对生
物蝴蝶飞行机理的研究, 鲜有能够实现自由可控飞行的机器人系统. 本文设计了一款基于线驱转向的仿蝴蝶扑翼飞
行机器人, 名为USTButterfly-S, 其翼展50 cm, 重50 g, 可实现长达5分钟的自由可控飞行. 首先结合生物蝴蝶翅膀的
扑动特征, 设计了双曲柄双摇杆对称扑翼驱动机构. 然后模仿凤蝶的翅翼形状, 设计了仿蝴蝶翼型. 对翅膀的几何学
分析表明, USTButterfly-S的翅膀与凤蝶具有较好的形态相似性. 接着针对仿蝴蝶扑翼飞行机器人的转向控制问题,
首次采用线驱动机构拉动翅膀调节翅翼面积, 进而实现了USTButterfly-S的无尾航向控制. 最后集成自主设计的飞
控系统, USTButterfly-S能够实现室内盘旋飞行并进行实时航拍. 在实际飞行实验中, USTButterfly-S展现出类似生
物蝴蝶的飞行特征. |
| 英文摘要 |
| As a new type of flying robot, the butterfly-inspired flapping-wing aerial robot (FWAR) imitates the structure
and the flight mode of biological butterflies, which can effectively integrate into and adapt to complex environment, and has
broad application prospects in the field of civil-military integration. At present, most of the researches on butterfly-inspired
FWARs are focused on the studying of flight mechanisms of biological butterflies, and the development of butterfly-inspired
FWARs capable of free controlled flight is rarely covered. In this paper, a butterfly-inspired FWAR based on wire-driven
steering, named USTButterfly-S, is developed with a wingspan of 50 cm and a weight of 50 g, which can realize a free
controlled flight up to 5 minutes. Firstly, considering the flapping characteristics of biological butterflies, a symmetrical
flapping-wing drive mechanism with double cranks and double rockers is designed. Then, a bionic airfoil is designed
by mimicking the wing shape of the swallowtail butterfly. Geometric analysis shows that the wings of USTButterfly-S
have a good morphological similarity with that of the swallowtail butterfly. Next, aiming at the steering control problem
of butterfly-inspired FWARs, a wire-driven mechanism is used for the first time to pull the wings and modulate the
wing areas, thereby realizing the tailless heading control. Finally, integrating with the self-designed flight control system,
USTButterfly-S can realize indoor circling flight and real-time aerial photography. In the actual flight experiments,
USTButterfly-S exhibits similar flight characteristics as biological butterflies. |
|
|
|
|
|