복합관절 조류형 비행로봇 설계 및 비행동특성분석 (Design and Flight Dynamics Analysis of an Articulated Ornithopter)

서지정보

· 발행기관 : 제어·로봇·시스템학회
· 수록지 정보 : 제어.로봇.시스템학회 논문지 / 25권 / 11호 / 991 ~ 999페이지
· 저자명 : 김성영, 김명강, 오장진, 정회조, 김승균, 석진영

초록

This paper presents the design and flight verification of an articulated ornithopter-type flying robot that mimics the articulated wing structure of a bird. Key design parameters such as transmission angle, folding angle, and inner flapping angle were analyzed using flapping kinematics. The simulation results of the parameters were cross-compared using MATLAB and Solidworks and verified in the ground experiment facility where a motion capture camera system was equipped. The designed ornithopter-type flying robot is 0.7 m long and 1.5 m wide, and the maximum takeoff weight (MTOW) is less than 300 g. To reduce weight in the manufacturing process, the skeleton was made of lightweight carbon, and the skin made of expanded polypropylene (EPP). It is important to prevent warping of the main wing for proper thrust generation while flapping, so the gears were made of high-stiffness polyether ether ketone (PEEK) and the shaft made of titanium. A small and lightweight flight control computer was used to control the longitudinal and lateral motion of the flying robot and to acquire flight data. The flapping excitation frequency matches well with the design value via fast Fourier transform (FFT) analysis from the flight test. Dynamic analysis of the flying ornithopter was performed using a simplified longitudinal and lateral/directional dynamic model using stability and control derivatives from system identification method of the flight test data. The results of the parameter- optimization process demonstrate that the designed ornithopter has short-period and long-period longitudinal motion with stable but relatively low damping. Lateral/directional motion reveals slightly unstable slow dynamics and stable fast-roll modes.

영어초록

This paper presents the design and flight verification of an articulated ornithopter-type flying robot that mimics the articulated wing structure of a bird. Key design parameters such as transmission angle, folding angle, and inner flapping angle were analyzed using flapping kinematics. The simulation results of the parameters were cross-compared using MATLAB and Solidworks and verified in the ground experiment facility where a motion capture camera system was equipped. The designed ornithopter-type flying robot is 0.7 m long and 1.5 m wide, and the maximum takeoff weight (MTOW) is less than 300 g. To reduce weight in the manufacturing process, the skeleton was made of lightweight carbon, and the skin made of expanded polypropylene (EPP). It is important to prevent warping of the main wing for proper thrust generation while flapping, so the gears were made of high-stiffness polyether ether ketone (PEEK) and the shaft made of titanium. A small and lightweight flight control computer was used to control the longitudinal and lateral motion of the flying robot and to acquire flight data. The flapping excitation frequency matches well with the design value via fast Fourier transform (FFT) analysis from the flight test. Dynamic analysis of the flying ornithopter was performed using a simplified longitudinal and lateral/directional dynamic model using stability and control derivatives from system identification method of the flight test data. The results of the parameter- optimization process demonstrate that the designed ornithopter has short-period and long-period longitudinal motion with stable but relatively low damping. Lateral/directional motion reveals slightly unstable slow dynamics and stable fast-roll modes.

참고자료

· 없음