A Novel Actuation Strategy for an Agile Bioinspired FWAV Performing a Morphing-Coupled Wingbeat Pattern

作者：Ang Chen, Bifeng Song, Zhihe Wang, Dong Xue, Kang Liu · 发表于：IEEE Transactions on Robotics · 年份：2022 · DOI：10.1109/tro.2022.3189812 · 被引用次数：84 · 研究领域：Biomimetic flight and propulsion mechanisms、Aerospace Engineering and Energy Systems、Robotic Locomotion and Control

Flying vertebrates exhibit sophisticated wingbeat kinematics. Their specialized forelimbs allow for the wing morphing motion to couple with the flapping motion during their level flight, Previous flyable bionic platforms have successfully applied bio-inspired wing morphing but cannot yet be propelled by the morphing-coupled wingbeat pattern. Spurred by this, we develop a bio-inspired flapping-wing aerial vehicle (FWAV) entitled RoboFalcon, which is equipped with a novel mechanism to drive the bat-style morphing wings, performs a morphing-coupled wingbeat pattern, and overall manages an appealing flight. The novel mechanism of RoboFalcon allows coupling the morphing and flapping during level flight and decoupling these when maneuvering is required, producing a bilateral asymmetric downstroke affording high rolling agility. The bat-style morphing wing is designed with a tilted mounting angle around the radius at the wrist joint to mimic the wrist supination and pronation effect of flying vertebrates' forelimbs. The agility of RoboFalcon is assessed through several rolling maneuver flight tests, and we demonstrate its well-performing agility capability compared to flying creatures and current flapping-wing platforms. Wind tunnel tests indicate that the roll moment of the asymmetric downstroke is correlated with the flapping frequency, and the wrist mounting angle can be used for tuning the angle of attack and lift-thrust configuration of the equilibrium flight state. We believe ...