This study proposes a modified quasisteady aerodynamic model for the sub-100-milligram insect-inspired flapping-wing robot presented by the authors in a previous paper. The model, which is based on blade-element theory, considers the aerodynamic mechanisms of circulation, dissipation, and added-mass, as well as the inertial effect. The aerodynamic force and moment acting on the wing are calculated based on the two-degree-of-freedom (2-DOF) wing kinematics of flapping and rotating. In order to validate the model, we used a binocular high-speed photography system and a customized lift measurement system to perform simultaneous measurements of the wing kinematics and the lift of the robot under different input voltages. The results of these measurements were all in close agreement with the estimates generated by the proposed model. In addition, based on the model, this study analyzes the 2-DOF flapping-wing dynamics of the robot and provides an estimate of the passive rotation—the main factor in generating lift—from the measured flapping kinematics. The analysis also reveals that the calculated rotating kinematics of the wing under different input voltages accord well with the measured rotating kinematics. We expect that the model presented here will be useful in developing a control strategy for our sub-100 mg insect-inspired flapping-wing robot.

中文翻译：

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小于100毫克的昆虫启发扑翼机器人的改进的拟稳态空气动力学模型

这项研究为作者在先前的论文中提出的不足100毫克的昆虫启发式扑翼机器人提出了一种改进的准稳态空气动力学模型。该模型基于叶片元素理论，考虑了循环，耗散和附加质量的空气动力学机制以及惯性效应。根据拍打和旋转的两自由度（2-DOF）机翼运动学计算作用在机翼上的空气动力和力矩。为了验证模型，我们使用了双目高速摄影系统和定制的升力测量系统，以在不同输入电压下同时执行机翼运动学和机器人升力的同时测量。这些测量的结果都与所提出的模型产生的估计值非常一致。此外，基于该模型，本研究分析了机器人的2自由度拍打翼动力学，并根据测得的拍打运动对被动旋转（产生升力的主要因素）进行了估算。分析还表明，在不同输入电压下，机翼的旋转运动学与测得的旋转运动学非常吻合。我们希望这里介绍的模型将有助于开发我们的100毫克以下昆虫启发式拍打翼机器人的控制策略。分析还表明，在不同输入电压下，机翼的旋转运动学与测得的旋转运动学非常吻合。我们希望这里介绍的模型将有助于开发我们的100毫克以下昆虫启发式拍打翼机器人的控制策略。分析还表明，在不同输入电压下，机翼的旋转运动学与测得的旋转运动学非常吻合。我们希望这里介绍的模型将有助于开发我们的100毫克以下昆虫启发式拍打翼机器人的控制策略。