最近对昆虫启发的机器人技术的探索引起了相当大的兴趣。在低雷诺数下航行的昆虫中,蚊子表现出明显的飞行特征,包括更高的翼拍频率,减少的冲程幅度,和细长的翅膀。这导致了独特的空气动力学特性,例如通过尾流捕获的后缘涡流,减少对主导涡流的依赖,和旋转拖动。本文展示了盘旋期间对蚊子启发的扑翼Pico飞行器的能量分析,为其未来的设计和制造提供见解。研究依赖于翼展约为26mm的对称扑翼模型的运动学和准稳态空气动力学模型,考虑到翻译,旋转,和尾流捕获力分量。控制策略适应现有的鸟扑翼方法,以适应昆虫翼运动学和空气动力学特征。飞行控制器的设计以了解运动学对机翼力的影响为基础。此外,对蚊子启发的PAV模型的动态稳定性进行了全面分析,在小规模下显示出良好的控制器响应和可操作性。修改后的模型,结合刚体动力学和非平均空气动力学,在没有控制器或足够的功率密度的情况下表现出弱的稳定性。然而,控制器有效地稳定了PAV模型,解决态度和可操作性。这些初步发现为机械设计提供了宝贵的见解,空气动力学,以及RoboMos的制作,在马来西亚UPM开发的一种受昆虫启发的扑翼飞行飞行器。
Recent exploration in insect-inspired robotics has generated considerable interest. Among insects navigating at low Reynolds numbers, mosquitoes exhibit distinct flight characteristics, including higher wingbeat frequencies, reduced stroke amplitudes, and slender wings. This leads to unique aerodynamic traits such as trailing edge vortices via wake capture, diminished reliance on leading vortices, and rotational drag. This paper shows the energetic analysis of a mosquito-inspired flapping-wing Pico aerial vehicle during hovering, contributing insights to its future design and fabrication. The investigation relies on kinematic and quasi-steady aerodynamic modeling of a symmetric flapping-wing model with a wingspan of approximately 26 mm, considering translational, rotational, and wake capture force components. The control strategy adapts existing bird flapping wing approaches to accommodate insect wing kinematics and aerodynamic features. Flight controller design is grounded in understanding the impact of kinematics on wing forces. Additionally, a thorough analysis of the dynamic stability of the mosquito-inspired PAV model is conducted, revealing favorable controller response and maneuverability at a small scale. The modified model, incorporating rigid body dynamics and non-averaged aerodynamics, exhibits weak stability without a controller or sufficient power density. However, the controller effectively stabilizes the PAV model, addressing attitude and maneuverability. These preliminary findings offer valuable insights for the mechanical design, aerodynamics, and fabrication of RoboMos, an insect-inspired flapping wing pico aerial vehicle developed at UPM Malaysia.