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Development of an insect-inspired MAV prototype

机译：昆虫启发式MAV原型的开发

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This paper describes the development of a flapping wing micro air vehicle (MAV), an emerging class of UAVs that fulfil a range of novel military and civil applications. Fixed wing MAVs capable of outdoor flight have existed for several years so there is now great interest in developing a MAV that is able to fly and manoeuvre through confined, indoor environments. Flapping wing MAVs may offer improved manoeuvrability and increased payload capabilities over rotary wing MAVs for this type of flight, where hovering is a necessity. However, this is dependent on the ability to mimic the outstanding aerodynamic performance of insects, which generate a variety of unsteady aerodynamic phenomena to enhance their wing lift production through complex wing kinematics. A novel bio-inspired flapping mechanism has been developed to replicate the wing kinematics employed by insects. The parallel crank-rocker (PCR) mechanism produces an integrated flapping and pitching motion from a single rotary input, allowing it to be extremely lightweight and compact. Unlike previously developed insect-inspired flapping mechanisms, the PCR is not fully constrained so additional actuators can be used to dynamically control the wing angle of attack. A non-airborne PCR prototype has been developed as a miniature experimental test-rig. High speed camera footage verified that the prototype's wing kinematics matches desired values and showed the measured wing beat frequency to be 5.6 Hz, which is lower than simulations predicted. Force measurement data for the prototype indicated that the mechanism produces a mean lift of 23.8 mN at 5.6 Hz.
机译：本文介绍了襟翼微型飞行器（MAV）的发展，这是一种新兴的无人机，可满足一系列新颖的军事和民用应用。能够进行户外飞行的固定翼MAV已经存在了几年，因此现在人们对开发一种能够在狭窄的室内环境中飞行和机动的MAV表现出极大的兴趣。对于需要进行悬停的这种类型的飞行，襟翼机翼飞行器可以提供比旋翼机翼飞行器更高的机动性和更高的有效载荷能力。但是，这取决于模仿昆虫出色的空气动力学性能的能力，昆虫会产生各种不稳定的空气动力学现象，以通过复杂的机翼运动来提高其机翼升力。已开发出一种新颖的生物启发扑动机制来复制昆虫采用的机翼运动学。平行曲柄摇杆（PCR）机构通过单个旋转输入产生整合的拍打和俯仰运动，使其极其轻巧紧凑。与以前开发的昆虫拍打机制不同，PCR并未完全受限，因此可以使用其他执行器来动态控制机翼的迎角。非机载PCR原型已开发为微型实验测试台。高速摄影机镜头验证了原型机的机翼运动学与期望值相符，并显示测得的机翼拍频为5.6 Hz，低于模拟预测的值。原型的力测量数据表明，该机构在5.6 Hz时产生23.8 mN的平均升力。

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