用软夹具让微型扑翼无人机可重复停降，省电且不伤物体。
Repeatable Energy-Efficient Perching for Flapping-Wing Robots Using Soft Grippers
- 设计新型主被动驱动系统，实现停降时低能耗维持。
- 39克原型在110克机器人上完成自由飞行的起降全流程测试。
- 适合需长时间悬停或复杂环境作业的微型飞行器应用。
随着新型扑翼微型飞行器（FWMAV）设计的出现，对更广泛和先进的任务能力需求日益增长。FWMAVs试图模仿鸟类和飞虫的飞行特性。尽管当前设计已具备高机动性，但仍几乎完全缺乏停降与起飞能力。这些能力可支持长期监测、监视任务，以及在杂乱环境或靠近人类与动物区域的操作。本文提出并测试了一套框架，使小型至中型FWMAV能实现可重复的停降与起飞，采用柔软、无损的夹持装置。得益于其新颖的主动-被动驱动系统，飞行器在停降时可进入节能状态并无限期维持。一个重量低于39克的原型系统已在110克扑翼机器人上制造并进行大量测试。成功完成的自由飞行实验验证了从着陆、停降到后续起飞的完整任务流程。飞行期间记录的遥测数据为系统行为提供了深入洞察，是实现整个起降循环全自动化与优化的重要一步。
原文摘要 · Abstract (English)
With the emergence of new flapping-wing micro aerial vehicle (FWMAV) designs, a need for extensive and advanced mission capabilities arises. FWMAVs try to adapt and emulate the flight features of birds and flying insects. While current designs already achieve high manoeuvrability, they still almost entirely lack perching and take-off abilities. These capabilities could, for instance, enable long-term monitoring and surveillance missions, and operations in cluttered environments or in proximity to humans and animals. We present the development and testing of a framework that enables repeatable perching and take-off for small to medium-sized FWMAVs, utilising soft, non-damaging grippers. Thanks to its novel active-passive actuation system, an energy-conserving state can be achieved and indefinitely maintained while the vehicle is perched. A prototype of the proposed system weighing under 39 g was manufactured and extensively tested on a 110 g flapping-wing robot. Successful free-flight tests demonstrated the full mission cycle of landing, perching and subsequent take-off. The telemetry data recorded during the flights yields extensive insight into the system's behaviour and is a valuable step towards full automation and optimisation of the entire take-off and landing cycle.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。