Gravity-assisted Takeoff of Bird-inspired Flapping-Wing Air Vehicle Using Cliff-drop  

作　　者：Sang-Gil Lee Hyeon-Ho Yang Eun-Hyuck Lee Jae-Hung Han 

机构地区：[1]Korea Advanced Institute of Science and Technology,Daejeon,34141,Republic of Korea

出　　处：《Journal of Bionic Engineering》2025年第1期144-156,共13页仿生工程学报(英文版)

基　　金：supported by Unmanned Vehicles Core Technology Research and Development Program through the National Research Foundation of Korea(NRF);Unmanned Vehicle Advanced Research Center(UVARC)funded by the Ministry of Science and ICT,the Republic of Korea(2020M3C1C1A01083415).

摘　　要：Flapping-Wing Air Vehicles(FWAVs)have been developed to pursue the efficient,agile,and quiet flight of flying animals.However,unlike lightweight FWAVs capable of vertical takeoff,relatively heavy FWAVs face challenges in self-takeoff,which refers to taking off without both external device and energy input.In this study,a cliff-drop method is implemented for an independent takeoff of a heavy FWAV,relying solely on gravity.In the takeoff process using the cliff-drop method,the FWAV moves on the ground to a cliff edge using a wheel-driving motor and then descends from the cliff to achieve the necessary speed for flight.To demonstrate the cliff-drop method,the KAIST Robotic Hawk(KRoHawk)with a mass of 740 g and a wingspan of 120 cm is developed.The takeoff tests demonstrate that the KRoHawk,significantly heavier than the vertical-takeoff capable FWAVs,can successfully take off using the gravity-assisted takeoff method.The scalability of cliff-drop method is analyzed through simulations.When drop constraints are absent,the wheel-driving motor mass fraction for cliff-drop method remains negligible even as the vehicle's weight increases.When drop constraints are set to 4 m,FWAVs heavier than KRoHawk,weighing up to 4.4 kg,can perform the cliff-drop takeoffs with a wheel-driving motor mass fraction of less than 8%.

关 键 词：Flapping-wing air vehicle Biologically-inspired BIOMIMETIC TAKEOFF Micro air vehicle 

分 类 号：V276[航空宇航科学与技术—飞行器设计]