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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >An Avian-Inspired Passive Mechanism for Quadrotor Perching
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An Avian-Inspired Passive Mechanism for Quadrotor Perching

机译：鸟类启发的四旋翼栖息机构

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摘要

Flying robots capable of perch-and-stare are desirable for reconnaissance missions. Inspired by an adaptation that enables songbirds to sleep in trees without active muscle control, the research presented herein details the design for a passive mechanism that enables a rotorcraft to perch reminiscent of a bird perching on a tree branch. Perching is accomplished through the integration of a compliant, underactuated gripping foot and a collapsing leg mechanism that converts rotorcraft weight into tendon tension in order to passively actuate the foot. Analysis of mechanism behavior is presented, and stability tests were performed to characterize the ability of the system to reject disturbances. The results indicate that it is possible to passively perch a rotorcraft on multiple surfaces and support reasonable environmental disturbances. The analysis in this paper can enable passive perching design optimization in vertical take-off and landing systems.
机译：具有侦察任务的能够驻视和凝视的飞行机器人是理想的。受能使鸣禽在没有主动肌肉控制的情况下在树上睡觉的适应的启发，本文提出的研究详细介绍了一种被动机构的设计，该机构使旋翼飞机能够栖息在树枝上，让人联想到鸟类。通过将柔顺的，欠驱动的抓紧脚和折叠腿机构集成在一起，可以将旋翼飞机的重量转换为肌腱张力，从而被动地操纵脚，从而实现栖息。给出了机构行为的分析，并进行了稳定性测试以表征系统抑制干扰的能力。结果表明，可以将旋翼飞机被动地栖息在多个表面上，并支持合理的环境干扰。本文的分析可以实现垂直起降系统的被动式栖息地设计优化。

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