I-Corps: Hummingbird Robot

在过去的十年里，在小型化、低成本和高性能的传感器、执行器、计算和通信模块方面取得了巨大的技术进步。这些进展一直是机器人和微型飞行器(MAV)领域的主要加速器，自十多年前问世以来，这两个领域取得了很大进展。到目前为止，MAV已经在国防、民用、工业和农业领域的各种科学和商业应用中显示出越来越多的应用。与固定翼或旋转翼小牛相比，扑翼小牛在悬停能力、机动性和稳定性方面具有独到之处。这项工作的学术价值包括创建和开发了第一个能够悬停的自主扑翼MAV硬件样机，以及用于扑翼MAV系统动力学模型和飞行控制的基本框架和方法。在过去的几年里，这个i-Corps团队已经开发了几个受昆虫和蜂鸟启发的扑翼小牛的原型。这些工作样机具有低功率、高频扑翼运动、最小运动部件(没有四杆机构)的长疲劳寿命以及自主飞行的潜力。在拟议的i-Corps项目过程中，该团队将调查扑翼小牛在各种工业、民用、军事和商业领域应用的市场可行性。

The past decade has witnessed tremendous technological advances in the miniaturization, low-cost, and high-performance sensors, actuators, computing and communication modules. These advances have been the primary accelerator for the fields of robotics and Micro Aerial Vehicles (MAVs), which have gained much progress since its initiation a little more than a decade ago. To date, MAVs have shown increasing applications in a variety of scientific and commercial applications in defense, civil, industrial, and agricultural areas. Compared to fixed or rotary wing MAVs, flapping wing MAVs are unique in its hovering capability, maneuverability, and stability. The intellectual merit of this work include the creation and development of the first hardware prototype of autonomous flapping wing MAV capable of hovering, and a foundational framework and methodology for system dynamic models and flight control of flapping wing MAVs. Over the past few years, this I-Corps team has developed several prototypes of flapping wing MAVs inspired by insects and hummingbirds. These working prototypes feature low power, high frequency flapping wing motion, long fatigue life with minimal moving parts (without four bar mechanisms), and the potential of autonomous flight. During the course of the proposed I-Corps project, the team will investigate the market feasibility of the flapping wing MAVs to be applied in various industrial, civil, military, and commercial areas.