论文标题
索菲：与环境的物理互动的柔软灵活的航空车辆
SOPHIE: SOft and flexible aerial vehicle for PHysical Interaction with the Environment
论文作者
论文摘要
本文介绍了柔软的3D印刷的第一个设计，该设计在柔性灯丝上，轻巧的无人机，能够使用柔软的肌腱进行全身栖息，特别是在管道和不规则的表面上稳定而无需辅助系统。可以通过调整填充速率分布来控制无人机的灵活性。但是，灵活性的提高意味着控制无人机以及结构，空气动力学和航空弹性效应的困难。本文提供了对系统动力学的见解，并验证了车辆的可飞行性低至6％的密度。在此范围内，可以考虑准静态臂变形，因此自动驾驶仪通过静态臂偏转模型反馈。在较低的密度下，出现强的非线性弹性动力学，这转化为复杂的建模，建议切换到基于数据的方法。
This paper presents the first design of a soft, 3D-printed in flexible filament, lightweight UAV, capable of performing full-body perching using soft tendons, specifically landing and stabilizing on pipelines and irregular surfaces without the need for an auxiliary system. The flexibility of the UAV can be controlled during the additive manufacturing process by adjusting the infill rate distribution. However, the increase in flexibility implies difficulties in controlling the UAV, as well as structural, aerodynamic, and aeroelastic effects. This article provides insight into the dynamics of the system and validates the flyability of the vehicle for densities as low as 6%. Within this range, quasi-static arm deformations can be considered, thus the autopilot is fed back through a static arm deflection model. At lower densities, strong non-linear elastic dynamics appear, which translates to complex modeling, and it is suggested to switch to data-based approaches.
