Design and implementation of an independent-drive bionic dragonfly robot.

IF 3.1 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY

Bioinspiration & Biomimetics Pub Date : 2025-02-27 DOI:10.1088/1748-3190/adb5e4

Danguo Cheng, Zhong Yang, Guojun Chen, Hongyu Xu, Luwei Liao, Wei Chen

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引用次数: 0

Abstract

Bionic flapping wing robots achieve flight by imitating animal flapping wings, which are safe, flexible, and efficient. Their practicality and human-machine symbiosis in narrow and complex environments are better than traditional fixed-wing or multirotor drones, indicating broader application potential. By systematic and biomimetic methods, a bionic dragonfly robot with four independent drive flapping wings, called DFly-I, was designed. Firstly, the mechanical structure of the robot was introduced, especially the fluttering structure and the wing structure. Then, a novel motion controller utilizing multi-channel field-oriented control (FOC) is proposed for its motion mechanism, which relies on four sets of brushless DC motors based on FOC control and four sets of servos to achieve independent control of the flapping speed, rhythm, and angle of the four flapping wings. In addition, the system model is analyzed, and based on this, the robot motion and posture control are realized by a proportional-integral-derivative and active disturbance rejection based controller. Lastly, a physical prototype was made, and its feasibility was verified through flight experiments in indoor venues.

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独立驱动仿生蜻蜓机器人的设计与实现。

仿生扑翼机器人通过模仿动物的扑翼来实现飞行，具有安全、灵活、高效的特点。其在狭窄复杂环境下的实用性和人机共生性优于传统的固定翼或多旋翼无人机，显示出更广阔的应用前景。采用系统仿生的方法，设计了具有四个独立驱动扑翼的仿生蜻蜓机器人DFly-I。首先介绍了机器人的机械结构，特别是扑动结构和机翼结构。在此基础上，提出了一种基于多通道场定向控制（FOC）的运动控制器，该运动控制器依靠4组基于FOC控制的无刷直流电动机（bldc）和4组伺服器来实现对4个扑翼的扑动速度、节奏和角度的独立控制。在此基础上，采用基于比例积分导数和自抗扰（PID-ADRC）的控制器实现了机器人的运动和姿态控制。最后，制作了物理样机，并通过室内场地的飞行实验验证了该系统的可行性。

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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来源期刊

Bioinspiration & Biomimetics 工程技术-材料科学：生物材料

CiteScore

5.90

自引率

14.70%

发文量

132

审稿时长

3 months

期刊介绍： Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.