基于线驱转向的仿蝴蝶扑翼飞行机器人系统设计与控制

As a new type of flying robot, the butterfly-inspired flapping-wing aerial robot (FWAR) imitates the structure and the flight mode of biological butterflies, which can effectively integrate into and adapt to complex environment, and has broad application prospects in the field of civil-military integration. At present, most of the researches on butterfly-inspired FWARs are focused on the studying of flight mechanisms of biological butterflies, and the development of butterfly-inspired FWARs capable of free controlled flight is rarely covered. In this paper, a butterfly-inspired FWAR based on wire-driven steering, named USTButterfly-S, is developed with a wingspan of 50 cm and a weight of 50 g, which can realize a free controlled flight up to 5 minutes. Firstly, considering the flapping characteristics of biological butterflies, a symmetrical flapping-wing drive mechanism with double cranks and double rockers is designed. Then, a bionic airfoil is designed by mimicking the wing shape of the swallowtail butterfly. Geometric analysis shows that the wings of USTButterfly-S have a good morphological similarity with that of the swallowtail butterfly. Next, aiming at the steering control problem of butterfly-inspired FWARs, a wire-driven mechanism is used for the first time to pull the wings and modulate the wing areas, thereby realizing the tailless heading control. Finally, integrating with the self-designed flight control system, USTButterfly-S can realize indoor circling flight and real-time aerial photography. In the actual flight experiments, USTButterfly-S exhibits similar flight characteristics as biological butterflies.