仿生扑翼飞行机器人翅型的研制与实验研究

The Development and Test on Wing Type of A Bionic Flying Micro-robot

模仿昆虫和小鸟飞行的扑翼飞行机器人将举升、悬停和推进功能集于一个扑翼系统,与固定翼和旋翼完全不同,因此研究只能从生物仿生开始。生物飞行的极端复杂性使得进行完整和精确的扑翼飞行分析非常复杂,因此本文在仿生学进展基础上,通过一些合适的假设和简化,建立了仿生翅运动学和空气动力学模型,并以此为基础研制了多种翅型。研制了气动力测量实验平台,对各种翅型进行了实验研究。实验结果表明,研制的翅型都能产生一定的升力,其中柔性翅具有较好的运动性能和气动性能,并且拍动频率和拍动幅度对升力有较大影响。

The flapping wing system of a bionic flying micro-robot based on insects and birds aggregates the lift, hovering and push functions, its kinematics and aerodynamics are different from that of fixed wing and rotational wing, and so bionic flying micro-robot must be studied from bionics initially. Based on some appropriate hypothesis and bionics, the kinematics and aerodynamics model of flapping wing were built up, several wing types were designed and developed. An equipment of measuring aerodynamic force was designed and developed, and several bionic wings were tested on it. It is concluded that all of the tested bionic wings can generate lift force, however the flexible wing has best kinetic and aerodynamic performance among them, as well as flapping frequency and amplitude are the main factor of effecting on lift force generation.