Some existing flapping-wing flying robots show significantly different flight forms compared with actual birds,and exhibit less bionic features of their wing and tail layout and their control ways of pitching and steering.In this paper,we propose a system design and implementation scheme for a flapping-wing flying robot with a mor-phological layout similar to that of a pigeon.By designing curved-folded-swept wings and a bird-like fan-shaped tail near the trailing edge of the wings,the flight form of the flapping-wing robot is closer to that of a bird,which im-proves the bionic performance of the flying robot morphologically.Upon this basis,we propose a pitching control method via regulating the downstroke angle without need of a large upper declination angle of the tail.We also pro-pose a wing retraction control method that is independent of the tail,ensuring the effectiveness of flight control while emphasising more bionic features.In the specific design process,different types of wings according to those of pigeons are selected firstly,and wind tunnel tests are then performed to determine the design scheme that can maintain better lift-thrust performance when the downstroke angle changes.Next,by analyzing and comparing vari-ous types of tails,we make a tail for the robot with reference to the characteristics of the pigeon.Besides,we design pitching and steering control mechanisms and verify their effectiveness via wind tunnel tests.Finally,we develop a flight control system and integrate it on the robot.The stability and controllability of the designed dove-like flap-ping-wing flying robot is confirmed by flight tests.
维普
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