Bee+: A 95-mg Four-Winged Insect-Scale Flying Robot Driven by Twinned Unimorph Actuators
Bee+: A 95-mg Four-Winged Insect-Scale Flying Robot Driven by Twinned Unimorph Actuators
复制标题
Bee：由双联 Unimorph 执行器驱动的 95 毫克四翼昆虫级飞行机器人
DOI：
10.1109/lra.2019.2931177
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发表时间：
2019
影响因子：
5.2
通讯作者：
N. O. Pérez
中科院分区：
文献类型：
--
作者：
Xiufeng Yang;Ying Chen;L. Chang;Ariel A. Calderón;N. O. Pérez
我们推出了Bee+，这是一款95毫克的四翼微型机器人，与同等大小和相似重量的最先进的双翼微型机器人(即75毫克的哈佛RoboBee)相比，具有更好的可控性和开环响应特性。使Bee+的开发成为可能的关键创新是引入了一对极轻(28毫克)的孪生单晶片致动器，这使得一种新的微型机器人机构的设计成为可能，这种机构可以独立地拍打四个翅膀。与双翼飞行器相比，该设计的第一个主要优点是，当采用简单的正弦激励时，通过将执行器的数量从2个增加到4个，直接控制输入的数量从3个增加到4个。Bee+的第二个优势是，它的四翼配置和扑动模式自然会抑制通常会影响双翼微型机器人偏航自由度的旋转扰动。此外，与其他微型机器人相比，所提出的设计极大地降低了相关制造工艺的复杂性，因为单晶片致动器相当容易制造。最后，我们假设，考虑到影响其扑翼机制的相对较低的翼荷，蜜蜂+S的预期寿命一定比双翼同行高得多。通过一组简单的控制实验，演示了机器人的功能和基本能力。
We introduce Bee+, a 95-mg four-winged microrobot with improved controllability and open-loop-response characteristics with respect to those exhibited by state-of-the-art two-winged microrobots with the same size and similar weight (i.e., the 75-mg Harvard RoboBee). The key innovation that made possible the development of Bee+ is the introduction of an extremely light (28-mg) pair of twinned unimorph actuators, which enabled the design of a new microrobotic mechanism that flaps four wings independently. A first main advantage of the proposed design, compared to those of two-winged flyers, is that by increasing the number of actuators from two to four, the number of direct control inputs increases from three to four when simple sinusoidal excitations are employed. A second advantage of Bee+ is that its four-wing configuration and flapping mode naturally damp the rotational disturbances that commonly affect the yaw degree of freedom of two-winged microrobots. In addition, the proposed design greatly reduces the complexity of the associated fabrication process compared to those of other microrobots, as the unimorph actuators are fairly easy to build. Finally, we hypothesize that given the relatively low wing-loading affecting their flapping mechanisms, the life expectancy of Bee+s must be considerably higher than those of the two-winged counterparts. The functionality and basic capabilities of the robot are demonstrated through a set of simple control experiments.