From falling to flying: the path to powered flight of a robotic samara nano air vehicle
From falling to flying: the path to powered flight of a robotic samara nano air vehicle
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DOI：
10.1088/1748-3182/5/4/045009
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发表时间：
2010-12-01
影响因子：
3.4
通讯作者：
Humbert, J. Sean
中科院分区：
文献类型：
--
作者：
Ulrich, Evan R.;Pines, Darryll J.;Humbert, J. Sean
这篇论文详细介绍了纳米级（bbb15厘米）机器人翅果，或有翼种子的发展。原型的设计灵感来自于自然发生的几何形状，并提出了一个详细的实验过程，阐明了机械和机器人翅翼飞行动力学之间的相似性。我们观察到翅果在飞行中的螺旋轨迹在飞行路径和下降速度上是不同的。不同轨迹的机体滚转和俯仰角率被观察到与机翼俯仰的变化相耦合，从而提供了一种控制手段。受生物翅果飞行模式的启发，一种模仿翅果自动飞行能力的机器人装置已经被创造出来，同时提供悬停、爬升和移动的能力。基于高速摄像机的运动捕捉系统用于观察机械翅果和机器人翅果的飞行动力学。在飞行动力学的相似之处进行比较和讨论，因为它涉及到机器人翅翼的设计。
This paper details the development of a nano-scale (> 15 cm) robotic samara, or winged seed. The design of prototypes inspired by naturally occurring geometries is presented along with a detailed experimental process which elucidates similarities between mechanical and robotic samara flight dynamics. The helical trajectories of a samara in flight were observed to differ in-flight path and descent velocity. The body roll and pitch angular rates for the differing trajectories were observed to be coupled to variations in wing pitch, and thus provide a means of control. Inspired by the flight modalities of the bio-inspired samaras, a robotic device has been created that mimics the autorotative capability of the samara, whilst providing the ability to hover, climb and translate. A high-speed camera-based motion capture system is used to observe the flight dynamics of the mechanical and robotic samara. Similarities in the flight dynamics are compared and discussed as it relates to the design of the robotic samara.