Gliding Pitch Control Model of Bionic Flying Squirrel Robot

摘要

Through the bionic principle based on the relevant knowledge of robotics, BSR (Bionic flying squirrel robot) is designed by using the experience of flying squirrel's movement of body structure and mechanism. Besides, control model is proposed for pitching movement. In this paper, the mechanism of the robot is introduced first, by which we know the robot is designed by integration and has nine degrees of freedom, which can realize the wall-climbing and gliding movement functions. Then dynamic analysis is used to build a robot kinematics model of gliding pitch movement. Furthermore, the control model of gliding pitch movement is discussed. Finally, kinematics simulation, wind tunnel and outfield experiments verify the control model achieving the gliding movement. The results show BSR has a good gliding ability based on pitching control model.