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Optimization of Low Reynolds Number Flapping Flights for Insect -inspired Flaying Robots

昆虫剥皮机器人低雷诺数扑动飞行的优化

基本信息

批准号：
21360078
负责人：
RYU Hiroshi
金额：
$ 12.4万
依托单位：
Chiba University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2009
资助国家：
日本
起止时间：
2009 至 2011
项目状态：
已结题

项目摘要

Aiming at developing an effective tool to unveil novel mechanisms in bio-flights and to provide guiding principles for designing bio-inspired Micro Air Vehicles (MAVs) we here propose a new paradigm of MAV-motivated integrative biomechanics in bio-flights, which integrates aerodynamics, flight dynamics, flight stability and maneuverability in a manner of computational biomechanics. An integrated and rigorous computational biomechanical model is developed for the simulation of insect flapping flight, containing 1) a biology-inspired, dynamic flight simulator in terms of realistic wing-body morphology, realistic flapping-wing and body kinematics, and unsteady aerodynamics ; 2) a finite element method (FEM)-based structural dynamic model for the fluid-structure interaction (FSI) simulation of flexible wing aerodynamics and structural dynamics ; 3) a free-flying rigid body dynamic (RBD) model to the Newtonian-Euler equations of 6DoF motion ; 4) a specific coupling model for the analyses of nonlinear 6DoF flight dynamics and passive dynamic stability of insect flapping flights, and 5) an optimal approach on wing morphology and kinematics based on the methods of Complex and Genetic Algorithm. A series of systematic simulation-based studies of flapping-wing aerodynamics with rigid and flexible wings, free-flight dynamics and passive dynamic stability in insect and bird flights have therefore indicated that this integrative biomechanical model is capable to not only study insect and/or bird flapping flights in an integrated and systematic way and but also offer an effective tool for designing bio-inspired MAVs.

为揭示仿生飞行中的新机理，为仿生微型飞行器（MAVs）的设计提供指导，提出了一种基于MAVs的仿生飞行综合生物力学模型，该模型以计算生物力学的方式集成了空气动力学、飞行动力学、飞行稳定性和机动性。建立了一个完整的、严格的昆虫扑翼飞行模拟的计算生物力学模型，包括：1）一个基于生物学的动态飞行模拟器，该模拟器包括真实的翼身形态、真实的扑翼和身体运动学以及非定常空气动力学; 2）基于有限元法的流固耦合结构动力学模型柔性机翼气动和结构动力学仿真：3）自由飞行刚体动力学（RBD）模型，6DoF运动的Newtoni-Euler方程; 4）建立了昆虫扑翼飞行的非线性六自由度动力学和被动动力学稳定性分析的耦合模型，基于复合形法和遗传算法的机翼形态学和运动学优化方法。通过对刚性和柔性扑翼的空气动力学、自由飞行动力学以及昆虫和鸟类扑翼飞行的被动动力学稳定性等一系列系统的仿真研究表明，该模型不仅能够完整、系统地研究昆虫和鸟类扑翼飞行，而且为仿生微型飞行器的设计提供了有效的工具。