In order to better study the dynamic characteristics and the control strategy of parafoil systems,considering the effect of flap deflection as the control mechanism and regarding the parafoil and the payload as a rigi...In order to better study the dynamic characteristics and the control strategy of parafoil systems,considering the effect of flap deflection as the control mechanism and regarding the parafoil and the payload as a rigid body,a six degrees-of-freedom(DOF)dynamic model of a parafoil system including three DOF for translational motion and three DOF for rotational motion,is established according to the K rchhoff motion equation.Since the flexible winged paafoil system flying at low altitude is more susceptibleto winds,the motion characteristics of the parafoil system Wth and Wthout winds are simulated and analyzed.Furthermore,the ardropm test is used to further verify the model.The comparison results show that the simulation trajectory roughly overlaps with the actual flight track.The horzontnl velocity of the simulation model is in good accordance with the airdrop test,with a deviation less than0.5m/s,while its simulated vertical velocity fuctuates slightly under the infuence of the wind,and shows a similar trend to the ardrop test.It is concludedthat the established model can well describe the characteristics of the parafoil system.展开更多
The current work is oriented toward the development of a novel biologically inspired bat aerial robot with morphing wings. Based on the flight characteristics data of natural bats(Eptesicus fuscus), a novel four degre...The current work is oriented toward the development of a novel biologically inspired bat aerial robot with morphing wings. Based on the flight characteristics data of natural bats(Eptesicus fuscus), a novel four degrees of freedom robotic bat wing was developed to emulate the movements of bat wing. The design, fabrication, programing and wind tunnel experiments of the robot bat wing are described in this paper. Based on this robotic wing, the influence of flap amplitude, wind speed, flight frequency, downstroke ratio and stroke plane angle as well as the contributions of flap, elbow, sweep and wrist motions on the aerodynamic force and mechanical power were studied and analyzed. Results of wind tunnel experiments validated that higher lift would bring greater power consumption, and the flap motion would generate the most force and need more energy expenditure compared with other motions of bat. The experimental results suggest that the flap and fold motions are indispensable to make a robotic bat wing that has a better flight performance. This study provides some implications and a better understanding for the future robotic bat.展开更多
基金The National Natural Science Foundation of China(No.61273138,61573197)the National Key Technology R&D Program(No.2015BAK06B04)+1 种基金the Key Fund of Tianjin(No.14JCZDJC39300)the Key Technologies R&D Program of Tianjin(No.14ZCZDSF00022)
文摘In order to better study the dynamic characteristics and the control strategy of parafoil systems,considering the effect of flap deflection as the control mechanism and regarding the parafoil and the payload as a rigid body,a six degrees-of-freedom(DOF)dynamic model of a parafoil system including three DOF for translational motion and three DOF for rotational motion,is established according to the K rchhoff motion equation.Since the flexible winged paafoil system flying at low altitude is more susceptibleto winds,the motion characteristics of the parafoil system Wth and Wthout winds are simulated and analyzed.Furthermore,the ardropm test is used to further verify the model.The comparison results show that the simulation trajectory roughly overlaps with the actual flight track.The horzontnl velocity of the simulation model is in good accordance with the airdrop test,with a deviation less than0.5m/s,while its simulated vertical velocity fuctuates slightly under the infuence of the wind,and shows a similar trend to the ardrop test.It is concludedthat the established model can well describe the characteristics of the parafoil system.
基金supported by the Joint Training Doctoral Project of China Scholarship CouncilFunds for the Central Universities (Grant No. 3202003905)Scientific Innovation research of College Graduates in Jiangsu Province (Grant No. CXLX12_0080)
文摘The current work is oriented toward the development of a novel biologically inspired bat aerial robot with morphing wings. Based on the flight characteristics data of natural bats(Eptesicus fuscus), a novel four degrees of freedom robotic bat wing was developed to emulate the movements of bat wing. The design, fabrication, programing and wind tunnel experiments of the robot bat wing are described in this paper. Based on this robotic wing, the influence of flap amplitude, wind speed, flight frequency, downstroke ratio and stroke plane angle as well as the contributions of flap, elbow, sweep and wrist motions on the aerodynamic force and mechanical power were studied and analyzed. Results of wind tunnel experiments validated that higher lift would bring greater power consumption, and the flap motion would generate the most force and need more energy expenditure compared with other motions of bat. The experimental results suggest that the flap and fold motions are indispensable to make a robotic bat wing that has a better flight performance. This study provides some implications and a better understanding for the future robotic bat.
