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设计和实施一个独立驱动的生物龙机器人

Danguo Cheng¹, Zhong Yang¹, Guojun Chen²

¹College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, People's Republic of China.

Bioinspiration & biomimetics

|February 13, 2025

概括

研究人员开发了一种生物龙机器人 (DFly-I),具有四个独立控制的翅膀. 这种仿生机器人证明了复杂环境的高效飞行控制.

科学领域:

机器人技术机器人技术机器人技术
生物模拟学是一种生物模拟学.
航空航天工程航空航天工程

背景情况:

比起传统的无人机,生物飞翼机器人在安全性,灵活性和效率方面具有优势.
它们的设计模仿了自然的飞翼,在复杂的环境中提高了性能.
DFly-I代表了迈向实用的生物空中机器人的一步.

研究的目的:

设计和开发一个生物龙机器人 (DFly-I) 拥有四个独立驱动的飞.
实施一种新的运动控制系统,用于精确的机翼控制.
通过实验验证来验证生物机器人的飞行能力.

主要方法:

机器人的机械结构采用了系统和仿生设计方法,重点是动和翼结构.
为四个无刷直流电机和伺服器开发了一种基于多通道场面定向控制 (FOC) 的运动控制器,可实现独立的机翼控制.
为机器人运动和姿势控制,使用比例整合导数 (PID) 和主动干扰排斥控制 (ADRC) 策略.

主要成果:

一个物理原型的DFly-I生物龙机器人成功制造.
实现了对四个翅膀中的每一个翅膀的跳动速度,节奏和角度的独立控制.
室内飞行实验证实了生物机器人的可行性和功能.

结论:

生物龙机器人DFly-I展示了生物模拟挥舞翅膀设计的潜力,以实现敏捷高效的飞行.
拟议的控制系统有效地管理了独立飞翼的复杂动态.
这项研究证实了生物机器人的实际应用在传统无人机所面临的环境中具有挑战性.

关键词:

在ADRC的研究中,ADRC被认为是ADRC.在FOC上,FOC是指FOC.生物龙生物龙无人机无人机无人机人机共生的人机共生独立驱动的独立驱动器

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