Study on Transmission Mechanism and Flexible Flapping Wings of an Underactuated Flapping Wing Robot

被引：8

作者：

Sun, Wei ^{[1
]}

Yu, Jingjun ^{[1
]}

He, Guangping ^{[2
]}

Cai, Yueri ^{[1
]}

机构：

[1] Beihang Univ, Robot Inst, Beijing 100191, Peoples R China

[2] North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2022年 / 104卷 / 02期

基金：

国家重点研发计划; 中国国家自然科学基金;

关键词：

Flapping wing robots; Mechanical design; Optimization; Experiments; Flying; DESIGN; SIMULATION; ROTATION; INSECTS; FLIGHT;

D O I：

10.1007/s10846-021-01551-7

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Mechanism design and lift force calculation of an underactuated flapping wing robot with flexible planar wings are investigated in this paper. A spatial four-bar mechanism is introduced to realize flapping movements of wings, and then the emphasis contents of the paper are focused on lift force calculation of the robot system. A simple approach is presented for quantitatively calculating lift and thrust forces of the underactuated flapping wing system. Several robot prototypes have been fabricated on the basis of the optimization results with regard to a set of specific parameters. Some flight experiments show that the presented transmission mechanism and the optimization approach are feasible.

引用

页数：13

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