Department of Mechanical Engineering, Robotics Institute, Beihang University, Beijing 100191, People's Republic of China.
Beijing Advanced Innovation Center for Biomedical Engineer, Beihang University, Beijing 100191, People's Republic of China.
Bioinspir Biomim. 2020 Dec 21;16(2). doi: 10.1088/1748-3190/abc292.
has a natural ultra-high flying ability and maneuverability. Especially its ability to fly flexibly in the air, makes it more adaptable to the harsh ecological environment. In this study, a bionic flapping-wing micro air vehicle (FMAV) is designed and fabricated by mimicking the flight mode of. Parametric design was employed for combining the airframe structure and flight characteristics analysis. To improve the transmission efficiency and compactness of the FMAV mechanisms, this study first analyses the body structure of, and then proposes a novel mechanism of FMAV based on its biological motion characteristics, the flight motion characteristics, and its musculoskeletal system. By optimizing the flapping-wing mechanism and mimicking the flying mechanism of, the large angle amplitude and the high-frequency flapping motion can be achieved to generate more aerodynamic force. Meanwhile, to improve the bionic effect and the wing performance of FMAV, the flexible deformation ofwings for each flapping period was observed by a high-speed camera. Furthermore, the bionic design of wings the prototype was carried out, therefore the wings can generate a high lift force in the flapping process. The experiment demonstrated that the aircraft can achieve a flapping angle of 160 degrees and 30 Hz flapping frequency. The attitude change of FMAV is realized by mimicking the movement for the change of attitude of the, by changing the angle of attack of the wing, and executing the flight action of multiple degrees of freedom including pitch, roll and yaw. Finally, the aerodynamic experiment demonstrated that the prototype can offer 27.8 g lift and enough torque for altitude adjustment.
具有天然的超高飞行能力和机动性。特别是它在空中灵活飞行的能力，使其更能适应恶劣的生态环境。在本研究中，通过模仿的飞行模式设计并制造了一种仿生扑翼微型飞行器（FMAV）。采用参数设计来结合机身结构和飞行特性分析。为了提高 FMAV 机构的传动效率和紧凑性，本研究首先分析的身体结构，然后根据其生物运动特性、飞行运动特性及其骨骼肌肉系统，提出了一种基于仿生扑翼机构的新型 FMAV 机构。通过优化扑翼机构并模仿的飞行机制，可以实现大角度振幅和高频扑翼运动，从而产生更多的空气动力。同时，为了提高 FMAV 的仿生效果和机翼性能，通过高速摄像机观察每个扑翼周期的机翼柔性变形。此外，对机翼原型进行了仿生设计，因此机翼在扑翼过程中可以产生较大的升力。实验表明，该飞机可以实现 160 度的扑翼角度和 30Hz 的扑翼频率。通过模仿的运动来实现 FMAV 的姿态变化，通过改变机翼的攻角，并执行俯仰、滚转和偏航等多个自由度的飞行动作。最后，空气动力实验表明，原型机可以提供 27.8g 的升力和足够的扭矩来调整高度。
