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A Bioinspired Revolving-Wing Drone with Passive Attitude Stability and Efficient
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https://www.science.org/doi/full/10.1126/scirobotics.abg5913 小型旋翼飞行器采用多个紧凑旋翼，可以获得出色的敏捷性和机动性，但不可避免地会导致高能需求和极度有限的续航能力。这些飞行器中使用的小型旋转螺旋桨与翼状种子的大型升力表面形成对比，后者在下落时自发旋转进入稳定自转状态。明显的气动表面和延迟失速被认为是高效的非动力飞行的关键。在这里，仿生学原理被采用来显著降低小型飞行器的功耗，通过一种类似枫果的机器人实现。我们报道了一种双翼35.1克的飞行器，通过动力旋转实现悬停飞行。配备两个旋转器的欠驱动机器人，带有超大旋转翅膀，旨在利用非稳定气动学进行优化，以提高飞行效率。通过飞行动力学和稳定性分析，该飞行器被设计为具有被动姿态稳定性，消除了保持竖直的快速反馈的需求。因此，与基准多旋翼机器人相比，该无人机在功耗上表现出两倍的降低，记录了24.5分钟飞行时间。 Among small rotorcraft, the use of multiple compact rotors in a mechanically simple design leads to impressive agility and maneuverability but inevitably results in high energetic demand and acutely restricted endurance. Small spinning propellers used in these vehicles contrast with large lifting surfaces of winged seeds, which spontaneously gyrate into stable autorotation upon falling. The pronounced aerodynamic surfaces and delayed stalls are believed key to efficient unpowered flight. Here, the bioinspired principles are adopted to notably reduce the power consumption of small aerial vehicles by means of a samara-inspired robot. We report a dual-wing 35.1-gram aircraft capable of hovering flight via powered gyration. Equipped with two rotors, the underactuated robot with oversized revolving wings, designed to leverage unsteady aerodynamics, was optimized for boosted flight efficiency. Through the analysis of flight dynamics and stability, the vehicle was designed for passive attitude stability, eliminating the need for fast feedback to stay upright. To this end, the drone demonstrates flight with a twofold decrease in power consumption when compared with benchmark multirotor robots. Exhibiting the power loading of 8.0 grams per watt, the vehicle recorded a flight time of 14.9 minutes and up to 24.5 minutes when equipped with a larger battery. Taking advantage of the fast revolving motion to overcome the severe underactuation, we also realized position-controlled flight and illustrated examples of mapping and surveillance applications with a 21.5-gram payload.
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