The Flight Mechanism of a Bird-like Flapping Wing Robot at a Low Reynolds Number

J. Robotics Pub Date : 2022-04-18 DOI:10.1155/2022/6638104
Changtao Ding, Xiating Yao, Chengyao Liu
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Abstract

The flight mechanism of a bird-like flapping wing robot at a low Reynolds number was studied in this study for improving the robot performances. Both the physical model and the kinematic model were first established. The dynamic model of the robot at a low Reynolds number was built with the RANS (Reynolds-averaged Navier-Stokes) equations and the Spalart-Allmaras turbulence model. The flight experiments were carried out and the results were discussed. Lift and drag coefficient curves show that it generates upward lift and forward thrust in the phase that the wing flaps downwards, the rate of the coefficient curves is the biggest when the flapping direction changes. Pressure contours indicate that small vortexes with high pressure values appear at the wing edges. There are four velocity vortex groups in total at the front and back of the wing in the velocity contours. Some methods for improving the robot flight efficiency and the robot strength as well as the stitching position of the robot skin have been obtained from the above results. The methods provide the important guidance for the stable flights of the flapping wing robot with the high efficiency.
类鸟扑翼机器人低雷诺数飞行机理研究
为提高仿鸟扑翼机器人的飞行性能,对低雷诺数下仿鸟扑翼机器人的飞行机理进行了研究。首先建立了机器人的物理模型和运动学模型。利用RANS (Reynolds-average Navier-Stokes)方程和Spalart-Allmaras湍流模型建立了机器人低雷诺数下的动力学模型。进行了飞行试验,并对试验结果进行了讨论。升力和阻力系数曲线表明,在机翼向下扑动阶段产生向上升力和向前推力,当扑动方向改变时,系数曲线速率最大。压力轮廓线表明,在机翼边缘出现了压力值较高的小涡。在速度等高线中,机翼前后共存在四个速度涡群。由此得出了提高机器人飞行效率和机器人强度以及机器人皮肤拼接位置的一些方法。该方法为扑翼机器人的高效稳定飞行提供了重要的指导。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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