Research On Micro A Bird-like Flapping-wing Robot With Flexible Wings

The flapping-wing robot is a new type of aircraft that imitates the flight of birds and insects in nature.It generates the lift and thrust required for flight by the regular flapping of wings.Compared with the fixed-wing and rotor-wing flight modes,flapping-wing robots have the advantages of strong flying maneuverability,light weight,good camouflage,low noise and low energy consumption,and are very suitable for applications in military reconnaissance,environmental detection and anti-terrorism operations.Now,flapping-wing robots are mostly bird-like robots with large size and insect-like robots with little practicability.The research on the aerodynamic theory and flight parameters of flexible flapping wings is not perfect,and a complete prototype development process is lacking.This paper models and analyzes the flexible aerodynamic theory and parameters of the plane flexible wing,designs a miniature bird-like robot structure prototype with a mass of 50 g,and designs a micro controller system and a host computer measurement system.Aiming at the design requirements of the structure and control algorithm of the miniature bird-like flapping-wing robot,a dynamic model of a planar flexible wing is established and the influence of flight parameters on aerodynamics is analyzed.Integrate the leaf theory in unsteady aerodynamic environment with the characteristics of the plane flexible wing,and use Matlab to calculate the aerodynamic lift and thrust required for flight;change the flight angle of attack,wing flexibility amplitude,flutter frequency,amplitude and initial flight velocity And other flight parameters,and analyze their impact on the flight aerodynamics;Establish the aerodynamic model of the triangular tail,analyze the influence of the tail attitude angle on the three-dimensional torque of the robot;analyze the force conditions of the flapping wing robot at fixed altitude,level flight and coordinated turning flight,and clarify the conditions for achieving flight action during the test flight.Combined with the aerodynamic parameters that satisfy the flight conditions and the size ratio of birds in nature,the structure size and mechanism parameters of the robot prototype are determined.According to the flutter index that satisfies the aerodynamic flight conditions,design the size of the space four-bar linkage mechanism,and design the deceleration transposition and motor selection,etc.;Imitating the shape of bird wings and tail,designing a winged wing with rigid leading edge and a flexible trailing edge and a rigid triangular tail;according to the flexible deformation index of the wings that meet the aerodynamic flight conditions,by using the Simulation software for different wing vein thickness The deformation of the wing is simulated to determine the thickness of the wing vein that meets the requirements of the index,and to check the strength of the wing root and the crank of the flapping mechanism.This paper designs an airborne mini flapping wing controller,using STM32 as the main control,carrying nine-axis inertial navigation unit,barometer,angular displacement magnetic encoder and other sensors and designing PCB board.The brushless DC motor is used as the power source for the flapping of the wings,and the two micro servos drive the pitching and rolling movements of the tail;Using the complementary filtering algorithm based on quaternion to solve the nine-axis data attitude and output the three-axis attitude angle without time drift;the Labview software was used to design the host computer interface,and the Zigbee wireless module was used to communicate with the host computer.Communication protocol to realize the function of displaying information in 3D posture and sending commands.Finally,this article uses Xflow to simulate the wind tunnel experiment,and the aerodynamic simulation of the prototype is verified to verify the correctness of the aerodynamic modeling;the microcontroller and the host computer system are tested,and all functions are normal;The wing robot prototype is used to assemble and debug various components of the prototype,carry a flight test with a microcontroller,and conduct a flight test to verify the feasibility of the prototype flight.The flight effect is good.The final successful flight verified the content of this study.