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为验证蝗虫通过翅膀不对称运动进行空中姿态调整机理,设计了仿蝗虫空中姿态调整机器人系统,通过曲柄摇杆机构实现翅膀拍动。分析了机构特性,建立了翅膀拍动模型,计算了不同拍动频率、不同拍动幅值下翅膀受力及力矩情况,分析了左右翅膀同步拍动与异步拍动时对机体产生的影响。最后,搭建了实验验证平台,实验结果表明,左右翅膀的同步拍动不会引起机体姿态较大变动,而两侧翅膀拍动相位的不同将引起机体来回摆动,拍动幅值的不同将引起机体的滚转运动,且拍动频率越高,机体滚转越明显。证明了蝗虫利用翅膀不同步运动进行空中姿态调整机理的正确性,也为仿蝗虫机器人空中姿态调整设计提供了依据。
In order to verify the attitude adjustment mechanism of locusts by the asymmetrical movement of the wings, a robot system of locust-like air attitude adjustment was designed and the flapping of the wings was realized by the crank and rocker mechanism. The characteristics of the mechanism were analyzed. The flapping model of the wings was established. The force and moment of the wings at different flapping frequencies and flapping amplitudes were calculated. The influences of the flapping and the flapping on the body were analyzed. Finally, an experimental verification platform is set up. The experimental results show that the simultaneous flapping of the left and right wings will not cause large changes in the attitude of the body, while the flapping phase of the wings on both sides will cause the body to swing back and forth with different flapping amplitudes Body rolling movement, and flapping the higher the frequency, the more obvious body rolling. It proves that the correct attitude of the locusts using the non-synchronized movement of wings to adjust the attitude of the air and provides the basis for the design of the air posture adjustment of the locust-like robot.