基于特征运动观测的蝴蝶前飞规律及样机验证  

Mechanism of butterfly forward flight and prototype verification based on characteristic motion observation

作　　者：张益鑫 王兴坚[1,2,3] 王少萍 池小楷[1] 杜韶阳 ZHANG Yixin;WANG Xingjian;WANG Shaoping;CHI Xiaokai;DU Shaoyang(School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China;Beijing Advanced Innovation Center for Big Data-Based Precision Medicine,Beihang University,Beijing 100191,China;Ningbo Institute of Technology,Beihang University,Ningbo 315800,China)

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191 [2]北京航空航天大学大数据精准医疗高精尖创新中心,北京100191 [3]北京航空航天大学宁波创新研究院,宁波315800

出　　处：《北京航空航天大学学报》2023年第7期1651-1660,共10页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家科技重大专项(2017-V-0010-0060);国家自然科学基金(51620105010,51805026,51675019);国家重点基础研究发展计划(JCKY2018601C107)。

摘　　要：为了研究蝴蝶扑翼飞行的原理,研制低频扑翼的仿生器,通过蝴蝶飞行运动的生物学观测,提出蝴蝶的3种特征运动状态,分析扑翼运动、胸部俯仰运动及腹部摆动运动之间的相位关系,构建蝴蝶前飞运动学模型。基于“杆-膜”仿生翼的新工艺和定制的机载飞控系统,研制轻量化的仿生蝴蝶扑翼飞行器样机,研究蝴蝶样机的飞行控制策略。通过六维力传感器对样机做地面动力学测试,利用高速摄像机对样机飞行进行运动学跟踪,证明了基于特征运动状态的蝴蝶前飞规律和原理样机研制的有效性。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.

关 键 词：蝴蝶飞行规律 典型特征运动 扑翼飞行器 仿生机器人 膜翼制作 

分 类 号：V221[航空宇航科学与技术—飞行器设计] TH113[机械工程—机械设计及理论]