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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

陈科位, 陈殿生, 张自强, 等 . 翅膀对仿蝗虫机器人空中姿态影响分析[J]. 北京航空航天大学学报, 2016, 42(1): 165-171. doi: 10.13700/j.bh.1001-5965.2015.0098
引用本文: 陈科位, 陈殿生, 张自强, 等 . 翅膀对仿蝗虫机器人空中姿态影响分析[J]. 北京航空航天大学学报, 2016, 42(1): 165-171. doi: 10.13700/j.bh.1001-5965.2015.0098
CHEN Kewei, CHEN Diansheng, ZHANG Ziqiang, et al. Analysis of wings effects on locust-like robot air posture[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(1): 165-171. doi: 10.13700/j.bh.1001-5965.2015.0098(in Chinese)
Citation: CHEN Kewei, CHEN Diansheng, ZHANG Ziqiang, et al. Analysis of wings effects on locust-like robot air posture[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(1): 165-171. doi: 10.13700/j.bh.1001-5965.2015.0098(in Chinese)

翅膀对仿蝗虫机器人空中姿态影响分析

doi: 10.13700/j.bh.1001-5965.2015.0098
基金项目: 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)
详细信息
    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

    通讯作者:

    陈殿生,Tel.:010-82339089E-mail:chends@buaa.edu.cn

  • 中图分类号: V211;TH113.2

Analysis of wings effects on locust-like robot air posture

Funds: 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。

     

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出版历程
  • 收稿日期:  2015-02-15
  • 刊出日期:  2016-01-20

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