The invention relates to the technical field of bionic robots, and discloses an under-actuated bionic hummingbird flapping-wing aircraft based on a redundant drive technology, which comprises a pair of direct current brushless motors, a pair of linear steering engines; the pair of direct-current brushless motors is mounted on the cage type supporting rack; the multi-stage speed reducing mechanism is connected with the direct-current brushless motor and is mounted on the cage type supporting rack; and the linear transmission mechanism is connected with the multi-stage speed reducing mechanism, is mounted on the cage type supporting rack, and is connected with a wing assembly. The whole prototype is an under-actuated dynamics system based on redundant drive and comprises a pair of direct-current brushless motors, the same gear is driven to rotate together, power of the direct-current brushless motors is combined into one power motor for use, and under-actuated control over the ornithopter is achieved through two linear steering engines and the power motor. Namely, attitude control of four degrees of freedom of pitching, rolling, yawing and lifting is realized.
本发明涉及仿生机器人技术领域,公开一种基于冗余驱动技术的欠驱动仿生蜂鸟扑翼飞行器,包括一对直流无刷电机;一对直线舵机;笼式支撑机架,一对直流无刷电机安装在笼式支撑机架上;多级减速机构,多级减速机构与直流无刷电机相连、且安装在笼式支撑机架上;线传动机构,线传动机构与多级减速机构相连接、且安装在笼式支撑机架上,线传动机构连接有翅膀组件。本发明整体样机是基于冗余驱动的欠驱动动力学系统,包括一对直流无刷电机,通过驱动同一个齿轮共同转动,并将它们的动力合并为一个动力电机使用,使用两个直线舵机和动力电机实现扑翼飞行器欠驱动控制,即对俯仰、滚转、偏航和升降4个自由度的姿态控制。
Under-actuated bionic hummingbird flapping wing aircraft based on redundant drive technology
一种基于冗余驱动技术的欠驱动仿生蜂鸟扑翼飞行器
20.08.2024
Patent
Elektronische Ressource
Chinesisch
Bionic flapping wing system and bionic flapping wing robot
Europäisches Patentamt | 2020
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