Mechanism Design and Control of a Winged Hovering Robot With Flapping Angle Constraint
Mechanism Design and Control of a Winged Hovering Robot With Flapping Angle Constraint
复制标题
扑动角度约束的翼式悬停机器人机构设计与控制
DOI：
10.1115/1.4055691
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Jawad, Badih
中科院分区：
文献类型：
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作者：
Vejdani, Hamid;Haji, LaRance;Fernandez, Vernon;Jawad, Badih
提出了一种用于扑翼飞行机器人的四连杆机构。在此之后，由于四连杆机构施加的额外约束，我们参数化的机翼运动学，以提供足够的控制权限，稳定系统在三维悬停。四连杆机构允许马达在一个方向上连续旋转，同时在翅膀上产生拍打运动。然而，这种机制限制了扑动角度范围，这是一个共同的控制参数，在控制这样的系统。为了解决这个问题，我们将每个翼拍周期分为四个可变的时间段，这是对以前的工作使用翼偏置的分裂周期调制的扩展，但允许使用恒定的扑翼振幅约束的机翼运动。最后，我们开发了一个优化框架来控制系统快速恢复，同时保证稳定性。结果表明，所提出的控制参数能够在两个机翼之间产生对称和非对称的运动，因此能够在最小的驱动和扑动角振幅约束下稳定悬停系统。
In this paper, we first presented a four-bar linkage mechanism for actuating the wings in a flapping wing flying robot. After that, given the additional constraints imposed by the four-bar linkage, we parameterized the wing kinematics to provide sufficient control authority for stabilizing the system during 3D hovering. The four-bar linkage allows the motors to spin continuously in one direction while generating flapping motion on the wings. However, this mechanism constrains the flapping angle range which is a common control parameter in controlling such systems. To address this problem, we divided each wingbeat cycle into four variable-time segments which is an extension to previous work on split-cycle modulation using wing bias but allows the use of a constant flapping amplitude constraint for the wing kinematic. Finally, we developed an optimization framework to control the system for fast recovery while guaranteeing the stability. The results showed that the proposed control parameters are capable of creating symmetric and asymmetric motions between the two wings and, therefore can stabilize the hovering system with minimal actuation and flapping angle amplitude constraint.