University of Maryland, College Park, MD 20742, USA.
Bioinspir Biomim. 2010 Dec;5(4):045009. doi: 10.1088/1748-3182/5/4/045009. Epub 2010 Nov 24.
This paper details the development of a nano-scale (>15 cm) robotic samara, or winged seed. The design of prototypes inspired by naturally occurring geometries is presented along with a detailed experimental process which elucidates similarities between mechanical and robotic samara flight dynamics. The helical trajectories of a samara in flight were observed to differ in-flight path and descent velocity. The body roll and pitch angular rates for the differing trajectories were observed to be coupled to variations in wing pitch, and thus provide a means of control. Inspired by the flight modalities of the bio-inspired samaras, a robotic device has been created that mimics the autorotative capability of the samara, whilst providing the ability to hover, climb and translate. A high-speed camera-based motion capture system is used to observe the flight dynamics of the mechanical and robotic samara. Similarities in the flight dynamics are compared and discussed as it relates to the design of the robotic samara.
本文详细介绍了一种纳米级（>15 厘米）的机器人槭果或带翼种子的研制过程。设计灵感来源于自然存在的几何形状，同时介绍了详细的实验过程，阐述了机械和机器人槭果飞行动力学之间的相似之处。观察到槭果在飞行中的螺旋轨迹在飞行路径和下降速度上有所不同。不同轨迹的体滚和俯仰角速度与机翼俯仰的变化相关联，因此提供了一种控制手段。受生物启发的槭果飞行方式的启发，创建了一种模仿槭果自动旋转能力的机器人装置，同时提供悬停、爬升和移动的能力。基于高速摄像机的运动捕捉系统用于观察机械和机器人槭果的飞行动力学。比较并讨论了飞行动力学的相似之处，以及它们与机器人槭果设计的关系。
