微小型飞行昆虫降落/起飞过程微牛级接触力测试系统设计

现阶段微小型仿生飞行器降落/起飞过程的机动灵活性与仿生原型存在差异，降低了其作业过程的安全性与应用范围的普遍性，无干扰状态下仿生原型降落/起飞过程接触力的精确表征是解决该问题的必要前提。为此设计了微小型飞行昆虫降落/起飞过程微牛级接触力测试系统，以碳纤维弹簧T300为接触力的感知器件并对其标定获取接触力-挠度-接触点位置的数学方程(拟合优度R²=0.979)，选用高帧数摄像机记录微小型飞行昆虫在碳纤维弹簧降落/起飞过程的图像信息。选用苍蝇(Musca domestica)进行了接触力测试系统的运行调试，采用基于Matlab编写的图像分析处理程序提取碳纤维弹簧挠度、接触点位置等信息，计算求解接触力并进行修正以消除碳纤维弹簧重力的影响，结果显示苍蝇降落/起飞过程的接触力介于0.121～0.772 mN，为其体重(17.38 mg)的0.71～4.53倍。对于所设计的接触力测试系统，分辨力可达0.001 mN，并从模拟/实际标定、挠度精准获取、接触力修正、降落/起飞过程无干扰等4方面来提升准确度。研究结果为微小型飞行器仿生原型运动行为的定量、准确表征提供了可借鉴的技术与...

Design of Micro-Newton Scale Contact Force Measurement System for Small Flying Insect during Landing/take-off Process

At present, obvious difference in maneuverability exists between the micro biomimetic flying aerocraft and its biomimetic prototype in the landing/take-off process, which reduces the safety of its operation process and the universality of its application scope. Accurate characterization of contact force of biomimetic prototype in the landing/take-off process without interference is a necessary prerequisite to solve this problem. A micro-Newton scale contact force measurement system for small flying insects during landing/take-off was designed. The carbon fiber spring T300 was selected as the sensing device of contact force and calibrated to obtain the mathematical equation involved contact force-deflection-contact point position (goodness of fit R²=0.979). A high frame camera was selected to record the image information of small flying insects during landing on and take-off from the carbon fiber spring. Taking the fly (Musca domestica) as the small flying insect, the operation debugging of the contact force measurement system was conducted. The image analysis and processing program based on the Matlab software was used to accurately obtain the deflection of carbon fiber spring and the position of landing/take-off contact point. According to the mathematical equation, the contact force was calculated and corrected to eliminate the influence of carbon fiber spring’s gravity. Result shows that the contact force of flies during landing/take-off process ranges from 0.121 mN to 0.772 mN, which is about 0.71 to 4.53 times of their body weight (17.38 mg). Four the designed contact force measurement system, its resolution is 0.001 mN and its accuracy is improved by four aspects: simulation/actual calibration, accurate acquisition of deflection, contact force correction and no interference in landing/take-off process. Our result provides a reference technology/method for the quantitative and accurate characterization of the biomimetic prototype’s movement behavior for developing micro flying aerocraft.