Aerodynamic Force Characteristics of a Bird-like Flapping Wing Robot with Randomly Uncertain Parameters

Abstract

The aerodynamic force characteristics of a bird-like flapping wing robot with randomly uncertain parameters was studied in this work in order to realize the force adjustment. To begin with, the kinematic model of the flapping wing robot was established. Then the aerodynamic force models with certain parameters and randomly uncertain parameters were separately established. Finally, the simulation of aerodynamic force was carried out based on Monte Carlo method. The simulation results show that the frequency is one of the most important parameters to adjust the aerodynamic force, and its effect is much stronger than the maximum flapping angle or the incidence angle. When there are randomly uncertain parameters, the thrust has a larger fluctuation than the lift, and the maximum instantaneous error is twice more than the mean error. The mean value curve of aerodynamic force with 32 samples nearly overlaps with the curve of the certain aerodynamic force curve.

Keywords-bird-like flapping wing robot; randomly uncertain parameters; aerodynamic force characteristics; kinematic model; aerodynamic force model