| 微型仿昆飞行机器人驻飞时动力学分析和仿真 |
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| 引用本文： | 周建华,王姝歆,颜景平.微型仿昆飞行机器人驻飞时动力学分析和仿真[J].扬州大学学报(自然科学版),2005,8(2):49-52. |
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| 作者姓名： | 周建华 王姝歆 颜景平 |
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| 作者单位： | 1. 扬州大学,机械工程学院,江苏,扬州,225009;东南大学,机械工程系,南京,210096
2. 东南大学,机械工程系,南京,210096 |
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| 基金项目： | 211工程振兴行动计划资助项目(3008002102) |
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| 摘 要： | 针对微型仿昆飞行机器人,建立了一个机体模型和驻飞时的翅运动形式,分析了驻飞时翅运动所产生的气动力,导出了微型仿昆机器人驻飞时的动力学方程,并对该方程进行了仿真分析.仿真结果表明,在一个拍动周期内,微型仿昆飞行机器人在一个小范围内振动;当一个周期结束后,机体回到原位置,驻飞时机体处于一个动态稳定状态.
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| 关 键 词： | 仿昆飞行 微型机器人 动力学 |
| 文章编号： | 1007-824X(2005)02-0049-04 |
Dynamic simulation and analysis of insect-like flying microrobot in hovering |
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| ZHOU Jian-hua,WANG Shu-xin,YAN Jing-ping.Dynamic simulation and analysis of insect-like flying microrobot in hovering[J].Journal of Yangzhou University(Natural Science Edition),2005,8(2):49-52. |
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| Authors: | ZHOU Jian-hua WANG Shu-xin YAN Jing-ping |
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| Institution: | ZHOU Jian-hua~ |
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| Abstract: | In this paper, the model of body and wing moving for insect-like flying microrobots are proposed in hovering. The aerodynamic forces produced by moving wing are calculated and dynamic equations of body on microrobots are developed in hovering. Based on the results, simulation and analysis is processed. The simulation results are obtained as follows. In one flapping period, the insect-like flying Microrobot vibrates in a small scope. It returns to the original position at end of each period. It is at a dynamic steady state in hovering. |
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| Keywords: | insect-like fly microrobot dynamics |
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