Mechanism Desidn And Remote Operation Control Method Of Bionic Bird Robot With Large Wing

In modern society,the rapid development of science and technology,especially the nuclear,biological,chemical etc,brings us more and more convenience and gospel,but it is also accompanied by various types of disasters at the same time,which are hard to be prevented.Reconnaissance and judgment are very difficult.Aiming at this disadvantageous situation,a robot suitable for high-risk environment reconnaissance is needed to acquire information such as video images,environmental parameters and pollution situation,so as to provide support for the disaster relief,development control and reducing losses of disaster.The present disaster rescue and environmental detection robot has problems of poor environmental adaptability,high cost and short battery life.In this thesis,a bionic bird robot with large wing was designed to meet the needs of disaster rescue and environmental detection,and a prototype was developed to carry out the corresponding experimental study.Based on the requirement analysis of environmental detection and disaster relief,three different configurations were designed based on flapping-wing flight principle and bionics principle.By comparing the configuration of three kinds of structures,the singledegree-of-freedom configuration was adopted for its easy control.According to the characteristics and index requirements of the configuration,the components of the bionic bird robot were determined.They can be divided into several modules,including the fuselage main body,flapping mechanism,power and deceleration mechanism,tail mechanism,and control system.Based on the spatial four-bar mechanism of RSSR,a space flapping mechanism with symmetrical flapping and a hard-coupled tail-fin mechanism with pitch adjustment and yaw regulation were designed.The light-duty brushless motor is used as the power and the secondary gear was used as the deceleration mechanism.The use of carbon fiber body can effectively connect the overall structure together to form an organic whole body.Based on the design,a simplified kinetic model of the whole robot was established.Then,the flight conditions are analyzed theoretically,and the configuration and key parameters were further improved.For the remote operation and control of the bird robot,a certain semi-autonomous system,including the embedded flight control system with the ARM processor and the corresponding software system,was developed.Finally,a complete prototype was integrated and the experiment of indoor and outdoor flight was carried out to verify its basic flying ability and the practicability of semi-autonomous control algorithm.