RGBlimp：机器人滑翔飞艇——设计、建模、开发与空气动力学分析
RGBlimp: Robotic Gliding Blimp -- Design, Modeling, Development, and Aerodynamics Analysis
AI总结：
本文提出了一种结合飞艇与固定翼滑翔机特性的微型机器人飞艇RGBlimp，采用氦气气囊、机翼、内部移动质量和螺旋桨实现混合升力与运动控制，实验验证了其设计与动力学模型，并证实其在空气动力学效率和飞行稳定性上的性能提升。
摘要：
微型机器人飞艇作为一种轻于空气的飞行器，因其较长的飞行时间和安全的空中运动而在科学和工程领域受到越来越多的关注。尽管在过去十年中开发了各种微型机器人飞艇，但其中大多数利用浮力升力而忽略了其设计中的空气动力升力，从而导致空气动力性能平庸。本文提出了一种微型机器人飞艇的新设计，结合了机器人飞艇和固定翼滑翔机的理想特性，命名为机器人滑翔飞艇，或称RGBlimp。该机器人配备有充满氦气的气囊和一对机翼，使用内部移动质量和一对螺旋桨进行运动控制。本文介绍了RGBlimp的设计、动力学建模、原型制作和系统辨识。据作者所知，这是首次系统地设计和开发具有混合升力和移动质量控制的此类微型机器人飞艇的努力。给出了实验结果以验证RGBlimp的设计和动力学模型。对RGBlimp空气动力学进行了分析，证实了所提出的RGBlimp在空气动力学效率和飞行稳定性方面的性能提升。
英文摘要：
A miniature robotic blimp, as one type of lighter-than-air aerial vehicle, has attracted increasing attention in the science and engineering field for its long flight duration and safe aerial locomotion. While a variety of miniature robotic blimps have been developed over the past decade, most of them utilize the buoyant lift and neglect the aerodynamic lift in their design, thus leading to a mediocre aerodynamic performance. This letter proposes a new design of miniature robotic blimp that combines desirable features of both a robotic blimp and a fixed-wing glider, named the Robotic Gliding Blimp, or RGBlimp. This robot, equipped with an envelope filled with helium and a pair of wings, uses an internal moving mass and a pair of propellers for its locomotion control. This letter presents the design, dynamic modeling, prototyping, and system identification of the RGBlimp. To the best of the authors' knowledge, this is the first effort to systematically design and develop such a miniature robotic blimp with hybrid lifts and moving mass control. Experimental results are presented to validate the design and the dynamic model of the RGBlimp. Analysis of the RGBlimp aerodynamics is conducted which confirms the performance improvement of the proposed RGBlimp in aerodynamic efficiency and flight stability.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
