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

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.

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.