TY - GEN
T1 - Gliding Pitch Control Model of Bionic Flying Squirrel Robot
AU - Lingqing, Wang
AU - Wei, Wang
AU - Xuepeng, Li
AU - Fei, Zhao
AU - Hualin, Quan
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/19
Y1 - 2018/12/19
N2 - Through the bionic principle based on the relevant knowledge of robotics, BSR (Bionic flying squirrel robot) is designed by using the experience of flying squirrel's movement of body structure and mechanism. Besides, control model is proposed for pitching movement. In this paper, the mechanism of the robot is introduced first, by which we know the robot is designed by integration and has nine degrees of freedom, which can realize the wall-climbing and gliding movement functions. Then dynamic analysis is used to build a robot kinematics model of gliding pitch movement. Furthermore, the control model of gliding pitch movement is discussed. Finally, kinematics simulation, wind tunnel and outfield experiments verify the control model achieving the gliding movement. The results show BSR has a good gliding ability based on pitching control model.
AB - Through the bionic principle based on the relevant knowledge of robotics, BSR (Bionic flying squirrel robot) is designed by using the experience of flying squirrel's movement of body structure and mechanism. Besides, control model is proposed for pitching movement. In this paper, the mechanism of the robot is introduced first, by which we know the robot is designed by integration and has nine degrees of freedom, which can realize the wall-climbing and gliding movement functions. Then dynamic analysis is used to build a robot kinematics model of gliding pitch movement. Furthermore, the control model of gliding pitch movement is discussed. Finally, kinematics simulation, wind tunnel and outfield experiments verify the control model achieving the gliding movement. The results show BSR has a good gliding ability based on pitching control model.
KW - control model
KW - kinematics simulation
KW - mechanical structure of robot
KW - wind tunnel and outfield experiments
UR - https://www.scopus.com/pages/publications/85060829180
U2 - 10.1109/WRC-SARA.2018.8584201
DO - 10.1109/WRC-SARA.2018.8584201
M3 - 会议稿件
AN - SCOPUS:85060829180
T3 - 2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding
SP - 261
EP - 268
BT - 2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018
Y2 - 16 August 2018
ER -