A compliant thorax design for robustness and elastic energy exchange in flapping-wing robots
A compliant thorax design for robustness and elastic energy exchange in flapping-wing robots
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DOI：
10.1109/iros47612.2022.9981927
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发表时间：
2022-10
期刊：
影响因子：
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通讯作者：
H. Gao;James Lynch;N. Gravish
中科院分区：
文献类型：
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作者：
H. Gao;James Lynch;N. Gravish
扑翼昆虫受益于一个顺应性的胸部，提供弹性能量交换和弹性翅膀碰撞。在本文中，我们提出了一个扑翼机器人，使用欠驱动的顺应性传输的启发昆虫胸腔。我们开发了一种新的制造方法，结合碳纤维（CF）层压板和软机器人制造技术的传输结构。传动装置的设计是最优化的，以实现所需的翼行程要求，并允许每个机翼的独立运动。我们验证这些设计选择在台式测试测量传输的顺应性和运动学。我们将传输与层压机翼和两种类型的驱动集成在一起，展示了弹性能量交换和有限的升空能力。最后，我们通过阻碍机翼运动的扑翼实验测试了碰撞缓解。这些实验表明，欠驱动的顺应性，传输可以提供弹性和鲁棒性扑翼机器人。
Flapping wing insects benefit from a compliant thorax that provides elastic energy exchange and resiliency to wing collisions. In this paper, we present a flapping wing robot that uses an underactuated compliant transmission inspired by the insect thorax. We developed a novel fabrication method that combines carbon fiber (CF) laminate and soft robotics fabrication techniques for transmission construction. The transmission design is optimized to achieve desired wingstroke requirements and to allow for independent motion of each wing. We validate these design choices in bench-top tests measuring transmission compliance and kinematics. We integrate the transmission with laminate wings and two types of actuation, demonstrating elastic energy exchange and limited lift-off capabilities Lastly, we tested collision mitigation through flapping wing experiments that obstructed the motion of a wing. These experiments demonstrate that an underactuated compliant, transmission can provide resilience and robustness to flapping wing robots.