仿蝴蝶机器人通过腹部波动提升飞行性能
Abdominal Undulation with Compliant Mechanism Improves Flight Performance of Biomimetic Robotic Butterfly
- 用柔性机构实现翅膀与腹部联动运动
- 腹部波动使升力提升、续航延长、姿态更稳
- 适合研究仿生飞行器与节能设计的工程师
本文提出一种集成柔性机构的仿生机器人蝴蝶（BRB），实现翅膀与腹部的耦合运动。借鉴真实蝴蝶飞行动力学，建立理论模型分析腹部波动对飞行性能的影响。通过三种构型的运动捕捉实验（无腹部、固定腹部、可波动腹部）验证模型。结果表明，腹部波动能增强升力、延长飞行时间并稳定俯仰振荡，显著提升整体飞行表现。研究揭示了翼-腹相互作用在扑翼飞行器中的关键作用，为高效仿生飞行设计提供新思路。
原文摘要 · Abstract (English)
Abdominal Undulation with Compliant Mechanism Improves Flight Performance of Biomimetic Robotic ButterflThis paper presents the design, modeling, and experimental validation of a biomimetic robotic butterfly (BRB) that integrates a compliant mechanism to achieve coupled wing-abdomen motion. Drawing inspiration from the natural f light dynamics of butterflies, a theoretical model is developed to investigate the impact of abdominal undulation on flight performance. To validate the model, motion capture experi ments are conducted on three configurations: a BRB without an abdomen, with a fixed abdomen, and with an undulating abdomen. The results demonstrate that abdominal undulation enhances lift generation, extends flight duration, and stabilizes pitch oscillations, thereby improving overall flight performance. These findings underscore the significance of wing-abdomen interaction in flapping-wing aerial vehicles (FWAVs) and lay the groundwork for future advancements in energy-efficient biomimetic flight designs.
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