A Virtual Simulation System for a Micro Flapping-Wing Robot

This paper presents a cross-platform virtual simulation system for micro flapping-wing robots, addressing the limitations of existing simulation environments that primarily focus on quadrotors. The system leverages bionic principles and modular design to enable efficient testing of control algorithms. The dynamics model integrates coordinate transformations, flapping-wing kinematics, and aerodynamic force calculations, considering parameters such as flapping angles, torsional angles, and airflow velocities. The simulation framework, developed using QT and MATLAB/Simulink, includes an interactive interface with 3D/2D visualization, a flight controller module, and a computational component for real-time state estimation. A case study demonstrates the system's ability to visualize attitude angles, trajectory tracking, and environmental interactions in a warehouse scenario. This platform offers a cost-effective solution for validating flapping-wing robot designs and advancing autonomous flight technologies, with future work targeting multi-robot collaboration and reinforcement learning integration.