利用微机电陀盘表征昆虫尺寸扑翼机器人俯仰力矩耦合
Characterizing pitch and roll torque coupling in insect-sized flapping-wing robots using a microfabricated gimbal
AI总结：
研究通过微机电陀盘测量扑翼机器人俯仰力矩耦合，验证力矩可独立控制，为共振扑翼系统动力学建模提供依据。
摘要：
亚克朗扑翼飞行昆虫机器人（FIRs）建模困难，源于翼部机械复杂性、不稳气动流动及小尺度精确测量难度。由于缺乏足够灵敏的双轴传感器，俯仰力矩耦合效应尚未被测量。为此，我们引入了微机电陀盘设计，可同时精确测量俯仰力矩及推力。随后用于测量pitch力矩指令对roll力矩及反之的影响。结果显示线性回归决定系数较高（俯仰0.95，roll 0.98），跨轴耦合系数极低（-0.001和-0.085），表明可忽略跨轴耦合。推力力偏差最大仅5.8%。这些结果验证了俯仰力矩可独立控制，将指导未来共振扑翼系统动力学建模。
英文摘要：
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurements at a small scale. Coupling effects between roll and pitch torque actuation have not previously been measured because a two-axis sensor that is sensitive enough has not been realized. To address this shortcoming, we introduce a microfabricated gimbal design capable of precisely and simultaneously measuring roll and pitch torques as well as thrust. We then used it to measure the extent to which a pitch torque command affects roll torque and vice versa on a 180 mg piezo-actuated flapping-wing flying platform. Our results show a high coefficient of determination in the linear regression for both pitch (0.95) and roll (0.98) and low cross-correlation coefficients (-0.001 and -0.085, respectively) across the full range of simultaneous torque commands, indicating negligible cross-axis coupling. Similarly, thrust force deviates by a maximum of only 5.8% from the mean thrust value. These results validate the assumption that pitch and toll can be considered independently in control and will inform future models of how inputs affect the aerodynamics of resonant flapping-wing systems.
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