测量微尺度飞虫机器人的滚转与俯仰力矩耦合，发现可忽略不计。
Characterizing pitch and roll torque coupling in insect-sized flapping-wing robots using a microfabricated gimbal
- 用微加工云台同时精准测量滚转、俯仰力矩和推力。
- 线性回归决定系数达0.95~0.98，交叉相关极低（-0.001~-0.085）。
- 适合研究微型扑翼飞行器控制与气动建模的科研人员。
亚克级扑翼飞虫机器人（FIRs）因机翼机械复杂、非定常气流及小尺度测量困难而难以建模。此前因缺乏足够灵敏的双轴传感器，滚转与俯仰力矩之间的耦合效应未被实测。为此，本文提出一种微加工云台设计，可精确同步测量滚转、俯仰力矩及推力。我们将其应用于180 mg的压电驱动扑翼平台，测试俯仰力矩指令对滚转力矩的影响，反之亦然。结果表明，俯仰与滚转的线性回归决定系数分别为0.95和0.98，交叉相关系数极低（-0.001和-0.085），全范围耦合可忽略。推力最大偏差仅5.8%，低于平均推力值。这些结果验证了在控制中可将俯仰与滚转视为独立变量，为未来共振扑翼系统气动建模提供关键依据。
原文摘要 · Abstract (English)
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurements at a small scale. Coupling effects between roll and pitch torque actuation have not previously been measured because a two-axis sensor that is sensitive enough has not been realized. To address this shortcoming, we introduce a microfabricated gimbal design capable of precisely and simultaneously measuring roll and pitch torques as well as thrust. We then used it to measure the extent to which a pitch torque command affects roll torque and vice versa on a 180 mg piezo-actuated flapping-wing flying platform. Our results show a high coefficient of determination in the linear regression for both pitch (0.95) and roll (0.98) and low cross-correlation coefficients (-0.001 and -0.085, respectively) across the full range of simultaneous torque commands, indicating negligible cross-axis coupling. Similarly, thrust force deviates by a maximum of only 5.8% from the mean thrust value. These results validate the assumption that pitch and toll can be considered independently in control and will inform future models of how inputs affect the aerodynamics of resonant flapping-wing systems.
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