| Citation: | ZHANG Y X，WANG X J，WANG S P，et al. Mechanism of butterfly forward flight and prototype verification based on characteristic motion observation[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（7）：1651-1660 （in Chinese） doi: 10.13700/j.bh.1001-5965.2021.0497
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To investigate the mechanism of butterfly flapping wing flight and develop a low-frequency flapping wing bionic robot, the fligh kinematics of the butterfly are capturedand documented using a high-speed camera, three characteristic motion states of butterflies are proposed: flapping wing motion, thorax pitching motion and abdomen swinging motion. Through analysis of the phase relationship among these three states, a kinematics model of the butterfly forward flight is constructed. Then based on the new procedure of the "rod-membrane" bionic wings and a miniature onboard flight control system, a lightweight butterfly-inspired flapping wing air vehicle is developed, the flight control strategy of which is studied as well. Next, a six-dimensional force sensor is used to test the dynamics of the prototype on the ground, and a high-speed camera is used to track the flight of the prototype, which proves the effectiveness of the development of the prototype based on the characteristic motion states of the butterfly forward flight mechanism.
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