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Design and Experiment of a Deformable Bird-inspired UAV perching mechanism

Journal of Bionic Engineering 2021年第6期18卷 1304-1316页

作者： Long Bai Hao Wang Xiaohong Chen Jia Zheng Liming Xin Yupeng Deng Yuanxi Sun State Key Laboratory of Mechanical Transmission Chongqing UniversityChongqing400030China College of Advanced Manufacturing Engineering Chongqing University of Posts and TelecommunicationsChongqing400065China School of Computer Engineering and Science Shanghai UniversityShanghai200444China

Energy consumption and acoustic noise can be significantly reduced through perching in the sustained flights of small Unmanned Aerial Vehicles(UAVs).However,the existing flying perching robots lack good adaptability or loading capacity in unstructured *** at solving these problems,a deformable UAV perching mechanism with strong adaptability and high loading capacity,which is inspired by the structure and movements of birds'feet,is presented in this *** elastic toes,an inverted crank slider mechanism used to realize the opening and closing movements,and a gear mechanism used to deform between two configurations are included in this *** experiments on its performance towards different objects,Results show that it can perch on various objects reliably,and its payload is more than 15 times its *** integrating it with a quadcopter,it can perch on different types of targets in outdoor environments,such as tree branches,cables,eaves,and spherical *** addition,the energy consumption of the UAV perching system when perching on objects can be reduced to 0.015 times that of hovering.

关键词： perching mechanism Bionic design UAV Flying robot Grasper

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Design and Control of an Autonomous Bat-like perching UAV

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Journal of Bionic Engineering 2024年第3期21卷 1253-1264页

作者： Long Bai Wei Wang Xiaohong Chen Yuanxi Sun State Key Laboratory of Mechanical Transmission Chongqing UniversityChongqing400044China

perching allows small Unmanned Aerial Vehicles(UAVs)to maintain their altitude while significantly extending their flight duration and reducing ***,current research on flying habitats is poorly adapted to unstructured environments,and lacks autonomous capabilities,requiring ideal experimental environments and remote control by *** solve these problems,in this paper,we propose a bat-like UAV perching mechanism by investigating the bat upside-down perching method,which realizes double self-locking in the perching state using the ratchet and four-link dead point *** on this perching mechanism,this study proposes a control strategy for UAVs to track targets and accomplish flight perching autonomously by combining a binocular camera,single-point LiDAR,and pressure *** perching experiments were conducted for crossbar-type objects *** experimental results show that a multirotor UAV equipped with the perching mechanism and sensors can reliably achieve autonomous flight perching and re-flying off the target *** power consumption is reduced to 2.9%of the hovering state when perched on the target object.

关键词： Bio-inspired design perching mechanism UAV Autonomous flight

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