一种挠性万向节三轴力-扭矩传感器揭示昆虫尺寸扑翼机器人中的最小交叉轴耦合
A flexured-gimbal 3-axis force-torque sensor reveals minimal cross-axis coupling in an insect-sized flapping-wing robot
AI总结：
本文提出一种基于挠性万向节的力-扭矩传感器，首次在昆虫尺寸扑翼机器人上同时测量俯仰、滚转扭矩和推力，实验证明扭矩指令的交叉轴耦合误差极小。
摘要：
扑翼的机械复杂性、其非定常气动流以及在亚克级扑翼飞行昆虫机器人（FIR）尺度上进行测量的挑战，使得其行为难以预测。然而，了解从电压输入到扭矩输出的精确映射关系，可用于改进其机械结构和飞行控制器设计。为应对这一挑战，我们研制了一种基于挠性万向节的灵敏力-扭矩传感器，该传感器仅需标准运动捕捉系统或加速度计即可进行读数。我们的装置能够同时精确且准确地测量系留扑翼FIR在变化的电压输入信号下的俯仰和滚转扭矩以及推力。借助该装置，我们得以在180 mg的FIR——UW Robofly上测量扭矩和推力输入指令的交叉轴耦合。我们利用自由飞行实验验证了这些测量结果。结果表明，相对于可能的扭矩范围，滚转和俯仰的最大交叉轴耦合误差分别为8.58%和17.24%。类似地，在整个指令扭矩范围内，改变俯仰和滚转指令导致与指令推力的偏差最高达5.78%。我们的系统是首个同时测量两个扭矩轴的系统，表明扭矩指令对扭矩和推力的交叉轴耦合可忽略不计。
英文摘要：
The mechanical complexity of flapping wings, their unsteady aerodynamic flow, and challenge of making measurements at the scale of a sub-gram flapping-wing flying insect robot (FIR) make its behavior hard to predict. Knowing the precise mapping from voltage input to torque output, however, can be used to improve their mechanical and flight controller design. To address this challenge, we created a sensitive force-torque sensor based on a flexured gimbal that only requires a standard motion capture system or accelerometer for readout. Our device precisely and accurately measures pitch and roll torques simultaneously, as well as thrust, on a tethered flapping-wing FIR in response to changing voltage input signals. With it, we were able to measure cross-axis coupling of both torque and thrust input commands on a 180 mg FIR, the UW Robofly. We validated these measurements using free-flight experiments. Our results showed that roll and pitch have maximum cross-axis coupling errors of 8.58% and 17.24%, respectively, relative to the range of torque that is possible. Similarly, varying the pitch and roll commands resulted in up to a 5.78% deviation from the commanded thrust, across the entire commanded torque range. Our system, the first to measure two torque axes simultaneously, shows that torque commands have a negligible cross-axis coupling on both torque and thrust.
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。
