Research On Design And Control Of Flying And Perching Robot

At present,with the increasing demand for aerial operations,flying robots have been widely used in environmental monitoring,communication relay,post-disaster rescue,and other operational scenarios,and achieved good practical results.However,due to the limitations of the flying robots' volume and load,the power reserve that it can effectively carry is minimal,which brings new challenges to the continuity of the operation;at the same time,the aircraft will generate higher noise during flight or hovering activities,not suitable for scenes that require covert operations.If a flying robot can also be attached to a specific scene like a bird,which can not only significantly improve the overall battery life of the robot but also improve the concealment of the operation in a specific scene,it is a valid breakthrough point to improve the flight time and diversity of flying robots.Based on the requirements of robot flying and perching,aiming at the shortcomings of the adaptability and reliability of current flying&perching robots in unstructured habitats,this paper mainly conducts the following research:1)Design,optimization,and complete machine integration of variable configuration adaptive perch attachment.Based on the principle of bionics,taking bird claws as the reference object,the composition and function principle of bird limbs were analyzed,and the structure was appropriately simplified on the basis of retaining the functional characteristics of the reference organism-adaptive perch attachment.The Matlab optimization tool was used to optimize the design of the rods of the perching device,and the overall structure of the flying perching robot was designed and optimized according to the functional characteristics of the perching device.2)The design and simulation of the flight control strategy and flight control system of the flying habitat attached robot.According to the characteristics of the designed flying Perching robot,a robot flight-perching-go-around control strategy is proposed to provide a basis for the state switching operation steps of the robot.At the same time,in order to further improve the flexibility and accuracy of the robots' perching process,a cascade PID control method based on visual servo was proposed,and the flight process of the robot was simulated by Matlab Simulink to verify the effectiveness of the control method.3)Analysis of the adaptability,stability,and power consumption of the flying robot attached to the robot.The flexibility of the habitat attachment to different surface features,different shapes,and sizes of habitat attachment objects was analyzed,and the conditions for maintaining the stable habitat attachment under the disturbance of airflow in all directions were discussed.And the robot power consumption model is established,and the power consumption characteristics of the robot in the attached state are explained.4)The principle prototype construction and related experimental research of the flying habitat attached robot.According to the relevant analysis in the previous article,the selection and calculation of the critical parts of the robot and the production of some parts were built,and the prototype of the flying habitat attached robot was built.Through the built load test platform,the ultimate load performance and anti-disturbance stability of the designed perch device are verified.According to the robot control strategy,the multi-scene field test was carried out,and the power consumption of the whole machine was analyzed to verify the correctness of the relevant design theory.