Conceptual Design of Bio-inspired Jumping Mechanisms for Flapping-wing Aerial Vehicles

doi:10.3969/j.issn.1004-132X.2022.15.013

Abstract

Abstract: Aiming at the problems of lack of autonomous take-off and landing functions of flapping-wing aerial vehicles， which seriously affected the applicable scenarios， the design of bio-inspired jumping mechanisms was carried out. Firstly， the typical movement state of birds in the processes of jumping taking-off was analyzed. And according to the laws of movement changes of the hind limb skeleton structure， center of gravity， force and velocity in this process， the dynamic movement process of jumping take-off of the flapping-wing aerial vehicles was designed. Then， based on the skeleton anatomical structure of birds leg， a closed-chain five-bar geared bird-leg like jumping mechanism was designed. The kinematics equation of the mechanism was derived based on D-H method， and the dynamic equation of the mechanism in the take-off stage was established using Lagrange equation. Finally， the detailed structure design of the jumping mechanism was carried out， and then the simplified jumping model was simulated and analyzed by ADAMS. The simulation results show that， with the help of the designed bionic jumping mechanism， the velocity of mass center of the flapping-wing aerial vehicle system reaches 8.4 m/s， which is higher than the speed 7.9 m/s required by the “dove” aerial vehicle， so the mechanism has the possibility of jumping take-off.

Key words: flapping-wing aerial vehicle, autonomous take-off and landing, jumping take-off, five-bar geared mechanism

摘要： 针对扑翼飞行器自主起降能力缺失、严重影响其适用场景的问题，开展了仿生弹跳机构设计研究。对鸟类跳跃起飞过程中典型的运动状态进行分析，结合其各阶段的后肢骨骼结构、重心、力、速度等运动变化规律，对扑翼飞行器弹跳起飞动态过程进行了设计。基于鸟腿的骨骼解剖学结构，设计了闭链齿轮-五杆仿鸟腿弹跳机构，并基于D-H法推导出弹跳机构运动学方程，利用拉格朗日方程建立了弹跳机构起跳阶段的动力学方程。对弹跳机构进行了详细结构设计，采用ADAMS对简化的弹跳模型进行了仿真分析。仿真结果显示，借助该仿生弹跳机构，扑翼飞行器系统质心速度达到8.4 m/s，大于“信鸽”飞行器起飞所需的速度7.9 m/s，具备弹跳起飞的可能性。

关键词: 扑翼飞行器, 自主起降, 弹跳起飞, 齿轮五杆机构

CLC Number:

TH122

MA Dongfu, SONG Bifeng, XUE Dong, XUAN Jianlin. Conceptual Design of Bio-inspired Jumping Mechanisms for Flapping-wing Aerial Vehicles[J]. China Mechanical Engineering, 2022, 33(15): 1869-1875，1889.

马东福, 宋笔锋, 薛栋, 宣建林. 受生物启发的扑翼飞行器弹跳机构概念设计[J]. 中国机械工程, 2022, 33(15): 1869-1875，1889.

References

［1］HU H， KUMAR A G， ABATE G， et al. An Experimental Investigation on the Aerodynamic Performances of Flexible Membrane Wings in Flapping Flight［J］. Aerospace Science and Technology， 2010， 14（8）：575-586.
［2］PARANJAPEA A， CHUNG S J， HILTON H H， et al. Dynamics and Performance of Tailless Micro Aerial Vehicle with Flexible Articulated Wings［J］. AIAA Journal， 2012， 50（5）：1177-1188.
［3］FESTO. SmartBird：BirdFlight Deciphered［EB/OL］. ［2021-04-06］.https:∥ www. festo. com/group/en/cms/10238. htm.
［4］YANG W， WANG L， SONG B. Dove：a Biomimetic Flapping-wing Micro Air Vehicle［J］. International Journal of Micro Air Vehicles， 2018， 10（1）：70-84.
［5］马东福，宋笔锋，宣建林，等. 仿鸟扑翼飞行器自主起降技术研究进展［J］. 宇航学报， 2021， 42（3）：265-273.
MA Dongfu， SONG Bifeng， XUAN Jianlin， et al. Recent Progress in Autonomous Take-off and Landing Technology of Bird-like Flapping-wing Aerial Vehicle［J］. Journal of Astronautics， 2021， 42（3）：265-273.
［6］PETERSON K， FEARING R S. Experimental Dynamics of Wing Assisted Running for a Bipedal Ornithopter［C］∥ 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. San Francisco， 2011：5080-5086.
［7］KIM J H， PARK C Y， JUN S M， et al. Flight Test Measurement and Assessment of a Flapping Micro Air Vehicle［J］. International Journal of Aeronautical and Space Sciences， 2012， 13（2）：238-249.
［8］XUE D， SONG B， SONG W， et al. Computational Simulation and Free Flight Validation of Body Vibration of Flapping-wing MAV in Forward Flight［J］. Aerospace Science and Technology， 2019， 95：105491.
［9］薛栋，宋笔锋，杨文青，等. 应用在扑翼飞行器的仿生起落架系统及起落控制方法：CN105416575A［P］. 2016-03-23.
XUE Dong， SONG Bifeng， YANG Wenqing， et al. Bionic Undercarriage System for Flapping Wing Air Vehicle and Takeoff and Landing Control Method：CN105416575A［P］. 2016-03-23.
［10］ZHANG T. Design， Analysis and Validation of a Silver Gull Inspired Hybrid UAV［D］. Sydney：University of Technology Sydney， 2019.
［11］EARLS K D. Kinematics and Mechanics of Ground Take-off in the Starling Sturnis Vulgaris and the Quail Coturnix Coturnix［J］. Journal of Experimental Biology， 2000， 203（4）：725-739.
［12］ZHANG Z Q， ZHAO J， CHEN H L， et al. A Survey of Bioinspired Jumping Robot：Takeoff， Air Posture Adjustment， and Landing Buffer［J］. Applied Bionics and Biomechanics， 2017， 2017：4780160.
［13］莫小娟，葛文杰，赵东来，等. 微小型跳跃机器人研究现状综述［J］. 机械工程学报， 2019， 55（15）：109-123.
MO Xiaojuan， GE Wenjie， ZHAO Donglai， et al. Re-view：Research Status of Miniature Jumping Robot［J］. Journal of Mechanical Engineering， 2019， 55（15）：109-123.
［14］HUDSON O A， FANNI M， AHMED S M， et al. Autonomous Flight Take-off in Flapping Wing Aerial Vehicles［J］. Journal of Intelligent & Robotic Systems， 2020， 98：135-152.
［15］熊康太. 自主起降扑翼机器人关键技术研究［D］. 赣州：江西理工大学， 2018.
XIONG Kangtai. Research on Key Technology of Self-taking Off and Landing Flapping Aero Craft［D］. Ganzhou：Jiangxi University of Science and Technology， 2018.
［16］SIVALINGAM G. Design of Jumping Legs for Flap Wing Vehicles［D］. Manchester：The University of Manchester， 2017.
［17］ZHANG J， DONG C， SONG A. Jumping Aided Takeoff：Conceptual Design of a Bio-inspired Jumping-flapping Multi-modal Locomotion Robot［C］∥2017 IEEE International Conference on Robotics and Biomimetics. Macau， 2017：32-37.
［18］EARLS K D. Kinematics and Mechanics of Ground Take-off in the Starling Sturnis Vulgaris and the Quail Coturnix Coturnix［J］. Journal of Experimental Biology， 2000， 203（4）：725-739.
［19］魏敦文. 基于弹性驱动的跳跃机器人研究［D］. 西安：西北工业大学， 2016.
WEI Dunwen. Research of Jumping Robots Based on Compliant Actuators［D］. Xian：Northwestern Polytechnical University， 2016.
［20］战强. 机器人学：机构、运动学、动力学及运动规划［M］. 北京：清华大学出版社， 2019.
ZHAN Qiang. Robotics：Mechanisms， Kinematics， Dynamics and Motion Planning［M］. Beijing：Tsinghua University Press， 2019.
［21］年鹏. 仿鸟类扑翼飞行器设计与性能提升方法研究［D］. 西安：西北工业大学， 2021.
NIAN Peng. Research on the Bird-like Flapping-wing Micro Air Vehicle Design and Its Performance Improvement Methods［D］. Xian：Northwestern Polytechnical University， 2021.
［22］林晓龙. 一种用于火星探弹跳机器人的研究［D］. 哈尔滨：哈尔滨工业大学， 2018.
LIN Xiaolong. Research on a Bouncing Robot for Mars Exploration［D］. Harbin：Harbin Institute of Technology， 2018.

[1]	YANG Feng, LUO Shijie, YANG Jianghong, WANG Yingjun, . A GPU-accelerated High-efficient Multi-grid Algorithm for ITO [J]. China Mechanical Engineering, 2024, 35(04): 602-613.
[2]	ZHANG Meng, ZHANG Songlin, LIU Yuwei, LIU Shicheng, FAN Pengju. Optimal Design of Piezo-based Actuated Systems in Tunable Diode Lasers [J]. China Mechanical Engineering, 2024, 35(04): 656-665.
[3]	LI Rongqi, YAN Tao, HE Zhicheng, MI Dong, JIANG Chao, ZHENG Jing. A Topology Optimized Design Method for High-performance Structures with Fluid-thermal-mechanics Coupling [J]. China Mechanical Engineering, 2024, 35(03): 487-497.
[4]	GAO Jin, CUI Haibing, FAN Tao, LI Ang, DU Zunfeng. A Structural Reliability Calculation Method Based on Adaptive Kriging Ensemble Model [J]. China Mechanical Engineering, 2024, 35(01): 83-92.
[5]	CHENG Xianfu, ZHANG Zhihong, WANG Chenghui, PAN Yifei. Product Architectures Evolution and Their Open Design Strategies [J]. China Mechanical Engineering, 2024, 35(01): 109-124.
[6]	ZHU Zongming, JI Suqiang, WANG Hao, TANG Puhua, LIANG Liang. Hemodynamics Analysis of Interventional Robots in Diagnosis and Treatment Based on Fluid-structure Interaction [J]. China Mechanical Engineering, 2023, 34(21): 2592-2599.
[7]	QU Xiaozhang, ZHANG Jiabei, ZHAI Fangzhi. Sensitivity Analysis and Optimization of High Speed Train Cooling Centrifugal Fan Performance [J]. China Mechanical Engineering, 2023, 34(20): 2504-2512.
[8]	XIAO Gang, ZHANG Bin, LI Shichun, YAN Huijun, YANG Qinwen. Design and Service Performance Optimization of Induction Heating Methanol Reforming Devices Based on Fluid Pressure Drop Control [J]. China Mechanical Engineering, 2023, 34(17): 2048-2057,2076.
[9]	QU Xiaozhang, ZHANG Jiabei, ZHAI Fangzhi. Reliability-based Analysis for Two-phase Flow of Locomotive Side Wall Filtration Systems with Non-random Load Uncertainty [J]. China Mechanical Engineering, 2023, 34(15): 1881-1889.
[10]	GENG Xueqing, WU Mengwu, HUA Lin, . Study on Design of Wheel-leg Deformable Wheel and Vehicle Control [J]. China Mechanical Engineering, 2023, 34(12): 1446-1452.
[11]	YAN Meng, LI Tao, YANG Chen, WANG Mingyu, YANG Dongdong. Calculation Method of LCA Parameters for Green Design and Assessment Collaboration of Electromechanical Products [J]. China Mechanical Engineering, 2023, 34(12): 1453-1464.
[12]	TAO Liang, ZHANG Dashan, ZHANG Xiaolong, PAN Deng, ZHAN Qingliang. Design and Experiments of Special Rim Assembly for Intelligent Tire Development Platform [J]. China Mechanical Engineering, 2023, 34(09): 1111-1119.
[13]	LIU Jisheng, JI Liang, LI Wei, JIA Zhixin, CHENG Jinxin, FANG Pengcheng. Efficient Optimization Design Method of Centrifugal Impellers Based on Multi-surrogate Model [J]. China Mechanical Engineering, 2023, 34(08): 899-907.
[14]	WANG Xinyuan, ZHOU Jinyu, XIE Liyang, CHENG Jinxiang. Adaptive Subdivision-Importance Sampling Method for Solving Structural Reliability [J]. China Mechanical Engineering, 2023, 34(03): 300-306，313.
[15]	HE Yufan, SUN Jianghong, GAO Feng, LI Naizheng, HE Xueping, WANG Junjian. Design,Analysis and Optimization of a Cone External Surface Mounting Manipulator [J]. China Mechanical Engineering, 2023, 34(01): 55-64.