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A hybrid vehicle for aerial and terrestrial locomotion.

机译：用于空中和地面运动的混合动力车辆。

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摘要

A durable hybrid vehicle has been developed capable of both aerial and terrestrial locomotion. The motivation for the work was a wide range of sensor deployment scenarios that would benefit from a vehicle capable of (1) flying long distances to a target area and (2) walking around the target to perform near-field inspection. A technology survey was performed to identify the candidate terrestrial and aerial locomotion technologies for integration. The Mini-Whegs robot, developed at Case Western Reserve University, was selected as the terrestrial running gear, and the flexible-wing micro air vehicle (MAV), developed at University of Florida, was selected as the aerial platform. A rigorous trade-off analysis led to a remote control prototype that had a fully functional airframe augmented with two R/C servos, modified for continuous rotation, driving independent music wire wheel-legs at the front of the vehicle. This vehicle achieved most of the original performance requirements. It could fly, land, crawl, and regain flight by crawling off the edge of a rooftop. A critical performance evaluation illuminated improvements to the design and fabrication necessary to create a viable hybrid vehicle for field deployment. The vehicle design and fabrication processes were overhauled to improve the durability and reproducibility of the final design. A custom-built terrestrial locomotion subsystem, with compliance in the drive train, was crucial to improved durability. CNC fabrication of the fuselage mold and a one-piece tail design were central to repeatability. A commercially available autopilot was implemented for autonomous operation. Vehicle mass increased from 118 to 365 grams. The wingspan was subsequently increased to 16'', but wing loading increased from 37 to 64 N/m2. A corresponding decrease in controllability was observed. Winglets were found to increase lift, but decrease stability by mitigating wing flexibility. The final vehicle was able to fly, land, and crawl repeatedly. Over 8 flights (and landings) have been performed by the vehicle, and the vehicle has yet to show any signs of damage. The vehicle cruises at 14 m/s and crawls at 0.33 m/s (0.8 body lengths per second). For comparison, a typical Mini-Whegs runs at 5 body lengths per second.
机译：已经开发了一种能够同时进行空中和地面运动的耐用混合动力车辆。这项工作的动机是广泛的传感器部署方案，它们将从能够（1）长距离飞行到目标区域以及（2）在目标周围行走以执行近场检查的车辆中受益。进行了一项技术调查，以确定要整合的候选地面和空中运动技术。凯斯西储大学开发的Mini-Whegs机器人被选作地面运行装置，佛罗里达大学开发的柔性翼微型飞行器（MAV）被选作空中平台。经过严格的权衡分析，得出了一个遥控原型，该原型具有一个功能齐全的机身，并增加了两个R / C伺服器，并进行了连续旋转修改，从而在车辆前部驱动了独立的音乐钢丝轮腿。该车辆达到了大多数原始性能要求。它可以通过爬到屋顶边缘来飞行，着陆，爬行并重新获得飞行。一项关键的性能评估阐明了对设计和制造工艺的改进，以制造出可行的混合动力车辆用于现场部署。整车设计和制造过程进行了大修，以提高最终设计的耐用性和可重复性。定制的地面运动子系统与传动系统兼容，对于提高耐用性至关重要。机身模具的CNC制造和一体式尾部设计对于可重复性至关重要。实施了市售自动驾驶仪以实现自主操作。车辆重量从118克增加到365克。翼展随后增加到16英寸，但机翼载荷从37牛顿/平方米增加到64牛顿/平方米。观察到可控性相应降低。发现小翼增加了升力，但通过减轻翼的柔韧性降低了稳定性。最后的飞行器能够反复飞行，降落和爬行。车辆进行了8次以上的飞行（和降落），但车辆尚未显示任何损坏迹象。车辆以14 m / s的速度巡航，以0.33 m / s（0.8体长/秒）的速度爬行。为了进行比较，典型的迷你磨牙以每秒5个体长的速度运行。

著录项

  • 作者

    Bachmann, Richard J.;

  • 作者单位

    Case Western Reserve University.;

  • 授予单位 Case Western Reserve University.;
  • 学科 Engineering Mechanical.
  • 学位 Ph.D.
  • 年度 2009
  • 页码 153 p.
  • 总页数 153
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机械、仪表工业;
  • 关键词

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