Abstract
The paper deals with the ornithopter flight which simulates the flight of a bird. The robot consists of a body, two folding wings and a tail. The ornithopter roll is provided by wing swings, and pitch and yaw are provided by twists of the tail in two planes. When switching to the design scheme of the device, each wing is replaced by two links connected to each other and to the body by means of cylindrical hinges, the axes of all hinges are parallel to the longitudinal axis of the robot. Two mechanisms are used to implement swings in the device. One of them (the mechanism of swings) directly provides fluctuations in the wings relative to the body, as well as changing their area by adding when moving up and decomposition when moving down. This mechanism consists of a motor and crank-rod-rocker mechanism. The second mechanism (rotation of the ailerons on the wings) allows the wings in addition to flapping additionally to flex during motion, thereby "pocketing" of the air and the extra control area of the wings: its decrease with the movement of the wings up and the increase in the movement of the wings down. The tail is connected to the body due to the spherical hinge and two crank mechanisms. With the help of one of the mechanisms the tail rotates relative to the longitudinal axis of the body in the horizontal plane, and with the help of the other - in the vertical. For this robot a flight control system is proposed, which provides the robot movement along a given trajectory. The control system includes a control unit and a control device (ornithopter). The control unit is formed by modules specifying the effects and calculation of angles, as well as comparator and controller. The control device includes drives, links (wings and tail) and the robot body. Management is carried out on six generalized coordinates determining the position and orientation of the hull in space. For this purpose, eight feedbacks are used in the angles of rotation of the wings and the tail of the robot relative to its body.
Highlights
Орнитоптер представляет собой летательный аппарат, крылья которого выполнены машущими с имитацией движения крыльев птицы или крыльев насекомого
Предложена конструкция устройства, описаны его основные узлы: механизм, посредством которого осуществляются взмахи крыльями, механизм поворота элеронов на крыльях во время взмахов, а также механизм поворот хвоста
The paper deals with the ornithopter flight which simulates the flight of a bird
Summary
Орнитоптер представляет собой летательный аппарат, крылья которого выполнены машущими с имитацией движения крыльев птицы или крыльев насекомого. Устройство управления включает в себя приводы, звенья (крылья и хвост) и корпуса робота. Для этого используется восемь обратных связей по углам поворота крыльев и хвоста робота относительно его корпуса. Ссылка для цитирования: Конструкция и система управления робота-орнитоптера, оснащенного крыльями и хвостом / С.Ф.
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