Designing a hummingbird-inspired, at-scale, tail-less flapping-wing micro aerial vehicle (FWMAV) is a challenging task in order to achieve animallike flight performance under the constraints of size, weight, power, and actuation limitations. It is even more challenging to design such a vehicle with a pair of independently controlled wings equipped with a total of only two actuators. This article details a systematic solution for the design optimization and prototyping of such FWMAVs. The proposed solution covers the complete system models and analysis of wing-actuation dynamics, control authorities, body dynamics, mechanical limitations, and electrical constraints. Each subsystem, as well as the overall system, is experimentally validated. This comprehensive approach can facilitate the design of such FWMAVs with different optimization goals. To demonstrate the effectiveness of the proposed approach, in this article, we conduct three different design optimization tasks, which yield three different prototype systems: optimizing the lift-to-weight ratio, optimizing control bandwidth, and optimizing control authority. We first construct a vehicle with an optimized lift-to-weight ratio. Based on it, the other two platforms with different design optimization goals are presented for better flight performance. Flight tests were performed on each prototype to validate their flight performance and design goals. Compared to optimized control bandwidth, we demonstrate that the vehicle with optimized control authorities is significantly more capable in terms of flight performance. It shows sustained stable flight in both hovering and heavy load carrying (more than 60% of the vehicle's total weight), which is hard for the other two platforms to achieve.

中文翻译：

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大规模无尾扑翼蜂鸟机器人。I. 设计、优化和实验验证

设计一种受蜂鸟启发的大规模无尾扑翼微型飞行器 (FWMAV) 是一项具有挑战性的任务，以便在尺寸、重量、功率和驱动限制的约束下实现类似动物的飞行性能。设计这样一种具有一对独立控制的机翼、总共仅配备两个执行器的车辆更具挑战性。本文详细介绍了用于此类 FWMAV 的设计优化和原型设计的系统解决方案。提议的解决方案涵盖完整的系统模型和机翼驱动动力学、控制权限、身体动力学、机械限制和电气约束的分析。每个子系统以及整个系统都经过实验验证。这种综合方法可以促进具有不同优化目标的此类 FWMAV 的设计。为了证明所提出方法的有效性，在本文中，我们进行了三种不同的设计优化任务，产生了三种不同的原型系统：优化升重比、优化控制带宽和优化控制权限。我们首先构造了具有优化升重比的车辆。在此基础上，提出了另外两个不同设计优化目标的平台，以获得更好的飞行性能。对每个原型进行飞行测试以验证其飞行性能和设计目标。与优化的控制带宽相比，我们证明了具有优化控制权限的飞行器在飞行性能方面的能力要强得多。它在悬停和重载（超过 60% 的飞行器）