北京航空航天大学学报 ›› 2016, Vol. 42 ›› Issue (1): 165-171.doi: 10.13700/j.bh.1001-5965.2015.0098

• 论文 • 上一篇    下一篇

翅膀对仿蝗虫机器人空中姿态影响分析

陈科位, 陈殿生, 张自强, 张本光   

  1. 北京航空航天大学机械工程及自动化学院, 北京 100083
  • 收稿日期:2015-02-15 出版日期:2016-01-20 发布日期:2016-01-28
  • 通讯作者: 陈殿生,Tel.:010-82339089E-mail:chends@buaa.edu.cn E-mail:chends@buaa.edu.cn
  • 作者简介:陈科位男,博士研究生。主要研究方向:仿生跳跃机器人技术。Tel.:010-82338271E-mail:awei_bit@163.com;陈殿生男,博士,教授,博士生导师。主要研究方向:仿生机器人技术、服务机器人技术。Tel.:010-82339089E-mail:chends@buaa.edu.com;张自强男,博士研究生。主要研究方向:仿生跳跃机器人技术。Tel.:010-82338271E-mail:zzq06520011@163.com;张本光男,硕士研究生。主要研究方向:仿生机器人运动控制。Tel.:010-82338271E-mail:zhangbg@bupt.edu.cn
  • 基金资助:
    国家自然科学基金(51375035);高等学校博士学科点专项科研基金(20121102110021)

Analysis of wings effects on locust-like robot air posture

CHEN Kewei, CHEN Diansheng, ZHANG Ziqiang, ZHANG Benguang   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2015-02-15 Online:2016-01-20 Published:2016-01-28
  • Supported by:
    National Natural Science Foundation of China (51375035); Specialized Research Fund for the Doctoral Program of Higher Education (20121102110021)

摘要: 为验证蝗虫通过翅膀不对称运动进行空中姿态调整机理,设计了仿蝗虫空中姿态调整机器人系统,通过曲柄摇杆机构实现翅膀拍动。分析了机构特性,建立了翅膀拍动模型,计算了不同拍动频率、不同拍动幅值下翅膀受力及力矩情况,分析了左右翅膀同步拍动与异步拍动时对机体产生的影响。最后,搭建了实验验证平台,实验结果表明,左右翅膀的同步拍动不会引起机体姿态较大变动,而两侧翅膀拍动相位的不同将引起机体来回摆动,拍动幅值的不同将引起机体的滚转运动,且拍动频率越高,机体滚转越明显。证明了蝗虫利用翅膀不同步运动进行空中姿态调整机理的正确性,也为仿蝗虫机器人空中姿态调整设计提供了依据。

关键词: 仿蝗虫机器人, 空中姿态调整, 仿生机构, 翅膀不同步拍动, 影响分析

Abstract: To verify the mechanism that locusts adjust their posture in air by flapping wings asynchronously, the air posture adjustment locust-like robot system has been designed which realized the flapping of wings with the crank-rocker structure. The structure characteristics have been analyzed and the wings flapping model has been established. Then, the forces and torques acting on the wings under different flapping frequencies and different amplitudes have been calculated. The influences on the body with synchronous and asynchronous flapping of wings have also been analyzed. Finally, an experimental platform has been built and a series of experiments have been implemented. Results indicate that synchronous flapping of left and right wings does not induce body posture change greatly while different phases of each side of wings will cause the body swing. Furthermore, different flapping amplitudes will induce the body roll and the higher flapping frequency is,the more obvious the body rolling phenomenon is. The experiments have verified the correctness of the mechanism of locust air posture adjustment by the ways of asynchronous wings motion and have provided the basis for the design of the air posture adjustment locust-like robot.

Key words: locust-like robot, air posture adjustment, bionic mechanism, asynchronous wings flapping, analysis of effects

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