通过调节翼连杆长度，实现仿蝠鲼飞行器的独立推力控制。
Thrust Regulation Through Wing Linkage Modulation on the Aerobat Platform: Piezoelectric Slip-Stick Actuated Regulator Development
- 用可调连杆长度改变翼拍动力学，实现双翼独立推力调节。
- 连杆长增1.5毫米，升力峰值提高37%，下拍阶段力峰提前。
- 采用压电滑移执行器，为微型飞行器提供紧凑型推力调控方案。
Aerobat是一款受蝙蝠启发的扑翼机器人，其翼部运动由碳纤维连杆构成的平面机构驱动，仅靠单个电机输入实现。该设计虽轻量化，但使双翼耦合于同一电机，无法独立控制推力，阻碍了非对称机动。本文研究通过调节计算结构中第一根半径连杆 $R_1$ 的有效长度来实现推力调控。静态实验使用FDM打印的 $R_1$ 连杆（长度分别为28.58、29.33和30.08毫米），在3、4、5赫兹的扑翼频率下进行，结果显示：连杆长度增加1.5毫米时，升力峰值提升37%，且峰值力出现时间向扑翼下拍阶段偏移。后续测试了绳索拉力与微伺服电机驱动机制，分别因结构柔顺性与电机脆弱性失败。最终选用TULA-50压电滑移执行器，并开发出多级力放大结构，形成直接驱动式可变长度机构。该装置在初步台架测试中成功演示，但因输出力不足未能完成动态扑翼测试。本研究确立了嵌入式滑移执行器调控连杆长度，是实现独立翼推力控制的可行路径。
原文摘要 · Abstract (English)
Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight but couples both wings to a shared input motor, eliminating independent thrust control and preventing asymmetric maneuvers. This thesis investigates thrust regulation by modifying the effective length of the first radius link $R_1$ in the computational structure. Static experiments using FDM-printed $R_1$ links at three lengths (28.58, 29.33, and 30.08 mm) across 3,4, and 5 Hz flapping frequencies demonstrated that a 1.5 mm length increase produced a 37% increase in peak lift force and shifted peak force timing within the downstroke. An additional experiment using a string-actuated regulator mechanism was performed. Further actuation methods were evaluated: sub-gram micro-servo and piezoelectric slip-stick. After both the string-tension and micro-servo actuation methods failed due to structural member compliance and motor fragility respectively, a TULA-50 piezoelectric slip-stick actuator was selected. Multiple force-amplifying mechanisms were prototyped, resulting in a direct-drive variable-length mechanism. This final mechanism was demonstrated in a preliminary bench-top test, though insufficient force output prevented dynamic testing during flapping. This work establishes linkage-length modulation via embedded slip-stick actuation as a viable approach to independent wing thrust control.
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