可變旋轉角度對於拍翼式飛行機器人升力 拉力效應之研究

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姓名

陳子硯(Tzu-Yen Chen) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

可變旋轉角度對於拍翼式飛行機器人升力拉力效應之研究
(Study on the Effect of Changeable Rotation Angle to Lift and Drag Force for Flapping Wing Aerial Robots)

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摘要(中)

拍翼式飛行機器人,在實際的應用上可以用於偵查、搜救、軍事以及娛樂等等用途。而拍翼式飛行機器人又擁有質量輕、低噪音、省能源以及行動靈敏的特性。在此類型飛行機器人的設計上面,很很多參數會造成升力以及阻力的引響,大致來說,會有馬赫數(mach number)、攻角(angle of attack)、旋轉角度(rotation angle)、升力係數(lift coefficient)、阻力係數(drag coefficient)等主要參數。機構的部分是使用 LEGO mindstorms 相關零組件組合而成,利用 LEGO 相關零配件即可組裝出傳動機構以及旋轉機構。傳動機構及旋轉機構各考慮兩種架構,並之後比較其優缺點。本研究著重於變化旋轉角, 對於整體的升力及阻力的影響。然而,本研究著重於靜態上的基本分析模擬, 故選擇定機翼的模擬器來做實際情況的推演及預測。模擬器是使用 Stark Aerospace 公司所設計的空氣動力學分析軟體 VLAERO+來做模擬。在此假設情況下,發現調整旋轉角度可以控制升力以及阻力的大小,但是需要一次調整一邊的機翼,而非一次調整兩邊機翼。已知調整旋轉角度可以調整升力及阻力,故在未來的情況下,可進一步設計有限狀態機做自動化調整的規劃。

摘要(英)

In the real application, flapping aerial robots can be used in investigation, rescue, military and entertainment. They have some special advantages and characteristics such as light weight, low noise, energy saving, and quick action. In design of this kind of robots, there are many parameters such as Mach number, angle of attack, rotation angle, lift coefficient, and drag coefficient to influence lift and drag force. We use LEGO Mindstorms and some related parts and accessories to realize our mechanism. There are two types of transmission and rotation mechanism. We use graphical software NXT 2.1 which is developed by LEGO to program and control our mechanism. In brief summary of mechanism design, we compare pros and cons of two types of transmission and rotation mechanism. This research focuses on that rotation angle affecting the lift and drag force in the whole system. Especially, it aims on static analysis of rotation angle, so we choose fixed wing simulator to simulate and predict the real situations. This simulator is called VLAERO+ which is an aerodynamic analysis tool developed by Stark Aerospace company. In this assumption, we found that changing rotation angle can control magnitude of lift and drag force. But, we can only change one side of two wings. On future work, we can use existing research data to realize automation flapping aerial robot.

關鍵字(中)

★ 旋轉角度
★ 微飛行器
★ 拍翼式飛行機器人

關鍵字(英)

論文目次

中文摘要 ......................................................... I 英文摘要 ........................................................ II 誌謝 ........................................................... III 目次 ............................................................ IV 圖目錄 .......................................................... VI 第一章緒論......................................................1
1.1 研究背景.........................................................................................................1 1.2 研究目的與架構.............................................................................................2
第二章文獻回顧 .................................................. 3
第三章仿昆蟲微飛行器設計 ........................................9
3.1 飛行昆蟲機器人設計流程.............................................................................9
3.2 生物模式觀察.................................................................................................9
3.2.1 蜻蜓飛行模式簡介................................................10 3.2.2 蝴蝶飛行模式簡介................................................11 3.2.3 蜜蜂飛行模式簡介................................................11
3.3 機構設計.......................................................................................................12 3.3.1 動力傳輸架構....................................................12
3.3.2 旋轉角度架構....................................................14
第四章實驗設計 ................................................. 16
4.1 實驗參數介紹...............................................................................................16 4.2 實驗軟體.......................................................................................................20
4.2.1 飛行模擬模型....................................................20 4.3 實驗規劃.......................................................................................................21
4.3.1 實驗一馬赫數與旋轉角度的改變...................................21 4.3.2 實驗二改變攻角.................................................22 4.3.3 實驗三調整旋轉角度.............................................22
第五章實驗結果及討論 ...........................................23
5.1 實驗一結果與討論.......................................................................................23 5.2 實驗二結果與討論.......................................................................................24
IV
5.3 實驗三結果與討論.......................................................................................27 第六章結論.....................................................46
6.1 研究發現.......................................................................................................46 6.2 建議............................................................................................................... 46
參考文獻 ........................................................ 47

參考文獻

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47
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指導教授

陳竹一(Jwu-E Chen)

審核日期

2013-7-26

推文