可折叠翼提高仿生扑翼机器人起飞时的能量效率

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI:10.1109/ICARM52023.2021.9536213

Yi Gong, Zongping Yang, Sichen Wang, Jintao Zhu, Tianshuo Huang, Jun Zhang

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引用次数: 0

摘要

可折叠扑翼机器人的折叠性能在实际应用中具有重要意义。在这项工作中，我们设计了一种可折叠的机翼机构，研究其能源效率的提高潜力。可折叠翼机构允许整个翼膜通过部件的运动进行折叠和扩展。主要研究了可行的可折叠翼型骨架，对其进行了运动学和气动仿真，并将仿真结果与非可折叠翼型进行了比较。结果表明:当扑翼频率为2Hz，机器人前进速度为5m/s ~ 10m/s时，可折叠翼型的平均升力和推力均小于不可折叠翼型;利用可折叠机翼，可以减少机器人起飞时的能量损失。研究结果可为后续的扑翼改进和扑翼机器人的设计提供参考。

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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Foldable Wings Improve Energy Efficiency of Bio-Inspired Flapping-Wing Robot during Takeoff

The folding function of foldable flapping-wing robots (FFWRs) plays an important role in practical application. In this work, we designed a foldable wing mechanism for studying its energy efficiency improvement potential. The foldable wing mechanism allows the entire wing membrane to fold and expand through the movement of components. We mainly studied the feasible foldable airfoil skeleton, and carried out kinematics and aerodynamic simulations on it, and compared the simulation results with the non-folding airfoil. The results show that when the flapping frequency is the same as 2Hz and the robot forward speed is 5m/s to 10m/s, the average lift force and thrust of the foldable airfoil are smaller than the ones of the non-folding airfoil. The energy loss will be reduced during takeoff of the robot with the foldable wings. The results in this paper can provide a reference for the subsequent wing improvement and flapping-wing robots design.

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来源期刊

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

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