Research On Force And Torque Testing Technology Of Micro Air Vehicle

Due to its small size,strong maneuverability,good stealth performance and other advantages,micro-sized ornithopter has a broad application prospect in both military and civil fields,and it has become a research hotspot today.Because the insect-like micro-sized ornithopter needs to transmit torque in a small range and the torque value is small,the general torque sensor or force sensor is difficult to meet the requirements of measurement accuracy in its dynamic range,and there is a contradiction between high sensitivity and wide-band output of high-performance force sensor.In order to solve this problem,this paper developed a force and torque testing system for micro-sized ornithopter,and based on this system,the prototype of it was tested and studied.Firstly,this paper introduces and summarizes the research status and achievements of micro-sized ornithopter and its related testing technology at home and abroad,compares and analyzes its advantages and disadvantages.In order to improve the quality of force sensor and torque sensor,a new design of biaxial force sensor and uniaxial torque sensor is proposed.Secondly,the corresponding finite element model is established according to the theoretical design,and the applicability and accuracy of the theoretical sensor are verified by simulation experiments.Combining the simulation results and physical test,a series of optimization improvements were made on the sensor from the aspects of manufacturing technology and geometric size,and the optimal geometric size of the two sensors was finally determined to improve the accuracy of the sensor.Finally,according to the characteristics and size of the sensor andmicro-sized ornithopter,a system-level test platform was designed and built to measure the lift force and torsional moment of the micro-sized ornithopter,and the performance index of the sensor was calibrated.The experiment results show that the lifting force and torsional moment of the micro air vehicle measured by the sensor are close to the theoretical calculation values and are in line with the experimental expectation.The bandwidth of the biaxial force sensor is 1.07 kHz,the range is 330 mN,the resolution is 6.7 ?N.The bandwidth of the uniaxial torque is 1.1 kHz,the range is ±260.8 ?Nm and the resolution is 0.013 ?Nm.They can meet high sensitivity and bandwidth requirements.