Design and Validation of an Aerodynamics and Kinematics Measurement Platform for Flapping-Wing Robots

Flapping-wing robots (FWRs) possess agile aerial maneuverability with their deformable wings. However, their aerodynamics and kinematics measurements are complicated and lack rapid measuring equipment. In this article, we propose a measurement platform (MP) for testing the aerodynamic and kinematic performance of FWRs. The MP mainly comprises a rotating mechanism (RM), a binocular camera, and a 6-D force sensor. The rotational motion of the RM simulates the incoming flow velocity (IFV). The binocular camera performs wing deformation and kinematics measurements. The force sensor records the lift and thrust of the wing. The static and dynamic models of the RM and the aerodynamic models of the FWR were developed. Numerical simulations of the RM dynamics were carried out to verify its feasibility and optimize its design parameters. We designed a prototype system, conducted performance tests on a bird-like FWR, and investigated wing deformation and aerodynamic characteristics at different wing angles of attack, flapping frequencies (FFs), and IFVs. Their correlations were also studied by statistical analysis. The results show that the degree of wing deformation in the up and down flapping phases significantly affects the wing aerodynamic forces. The MP provides a solution for rapid qualitative and quantitative evaluation of the wing and controller designs of FWRs and other kinds of flying robots.