昆虫飞行时的高机动性、高灵活性在大自然中展现着独特的魅力，它利用翅膀的扑动及扭转来改变速度和迎角，产生升力及驱动力矩，从而达到独特的飞行技能。昆虫拥有多样化的翅翼结构和扑翼时的动态特性，其翅翼形态结构与扑动方式启发着我们开展机翼的仿生设计及扑动机构的优化设计。昆虫的扑翼飞行、壁面爬行以及两种运动模式间自如转换的运动能力，给我们提供了极好的仿生模型，而现有的仿生机器人很少能同时兼具这两种运动能力。

本文从黑蚱蝉（Cryptotympana atrata）翅翼的形态结构、力学性能、耦合特性研究入手，观测黑蚱蝉翅翼的几何形态学数据和微观结构，测量翅翼翼膜及翼脉的材料力学特性；建立翅翼的运动学模型，分析前翼扑动的运动学特征参数；建立昆虫前后翼耦合连接理论模型，分析前后翼夹角变化对扑翼飞行的气动影响；设计并优化仿昆扑翼系统的扑动机构与机翼，分析扑动过程中机翼的变形与气动力的变化，揭示机翼前缘杆柔性对升力的气动影响；进一步设计仿生空壁两栖机器人，建立扑翼旋翼混合动力系统，优化总体布局与控制方案，分析机器人飞行及爬行的运动学与动力学，实现机器人在空中高效可控的飞行，并着落至竖直壁面进行稳定爬行；定量分析仿生两栖机器人的扑旋混合动力飞行、气动负压增强的仿生黏附爬行及飞爬转换性能，验证机器人总体布局设计与飞爬转换控制分配策略的有效性。论文主要研究成果如下：

（1）黑蚱蝉翅翼翼膜和翼脉的形态结构与力学性能的研究。利用扫描电子显微镜对黑蚱蝉翅翼翼膜和翼脉的微观结构进行几何形态表征，并获得翼膜和翼脉的化学组成成分。研究发现黑蚱蝉的前翼由非均匀材料组成，翼膜和翼脉的厚度从翼基到翼尖呈梯度性降低，外壁为多层纤维的层状结构，提高前翼承受气动载荷的能力。构成翅翼的化学成分元素保证了扑动时翅翼材料足够的强度与柔性。对前翼各部分的翼膜及翼脉进行拉伸测试，分析翼膜及翼脉的结构与力学分布特征对飞行气动力及姿态控制的作用。结果表明翼膜的高弹性模量保证了黑蚱蝉飞行过程中的升力产生及姿态控制。靠近翼根的翼膜较厚，并由弹性模量较高的主翼脉作为框架来加强，使靠近翼根区域的部分不易变形；远离翼根区域的翼膜比较薄，附近的翼脉弹性模量较小，柔性较好。对比翼膜及翼脉与工业材料的弹性模量范围，为大负载大体型仿生扑翼飞行系统的人工机翼的设计提供重要依据。

（2）黑蚱蝉前后翼耦合微观结构及动态特性的测量与分析。采用扫描电子显微镜对黑蚱蝉前后翼的耦合微观结构进行观测，建立耦合连接理论模型，分析卷边-沟槽耦合结构的运动特征。通过高速摄像运动捕捉系统与六维力测量系统观测黑蚱蝉翅翼的扑动动态特性，分析其在内外旋与上下扑过程中轨迹线的变化。研究发现黑蚱蝉翅膀的扑动轨迹呈细长的“0”字形，翅膀前缘在扑动过程中表现出明显的柔性。建立黑蚱蝉扑翼飞行的运动学模型，分析得到前翼扑动的运动学特性。基于前后翼耦合结构模型，分析扑动过程中前后翼夹角变化对黑蚱蝉扑翼飞行的气动影响。研究结果表明黑蚱蝉翅翼耦合时的铰链结构使得前后翼之间更容易相对转动，翅翼产生柔性弯曲变形，产生有利的攻角和翼型，从而在平移阶段产生稳定的升力。

（3）设计并优化仿昆扑翼系统。根据黑蚱蝉翅翼的结构特点与扑动特性设计扑翼系统。通过建立目标函数优化扑动机构的结构参数，使扑动幅度从71.4°提高至90°；通过改变机翼的翼脉布局、展弦比、锥度比、机翼表面积和前缘杆柔性，对机翼参数进行实验优化。在恒定输入功率P = 2.0 W下，优化后的扑翼系统最高平均升力可达17 g，显示出足够的负载能力。针对扑动过程中机翼的变形与气动力的变化，分析机翼参数导致扑翼系统升力变化的气动原因。研究结果表明扑翼系统机翼的展弦比和前缘杆柔性对升力有显著影响，且前缘杆柔性的增加会导致扑动过程中机翼后缘的分离被延迟，增强拍-合效应，这对扑翼系统的气动性能具有重要意义。

（4）设计兼具空中飞行与壁面爬行能力的仿生两栖机器人。设计机器人的机身结构与姿态控制方式，在扑翼系统的基础上建立扑翼旋翼混合动力系统，优化总体布局与系统控制方案，构建机器人飞行及爬行的运动学与动力学模型。分析扑翼旋翼混合动力布局的气动性能，发现混合动力控制的三轴力矩输入输出互相独立，且旋翼提高了动力系统的极限推力，扑翼提高了动力系统的极限效率，使得扑旋混合动力飞行系统兼具较高的推力与效率。根据昆虫在不同表面的附着与爬行特性设计爬行机构与仿生黏附垫，结合气动负压吸附与具有仿生黏附特性的爬行动力系统，实现机器人在竖直壁面的稳定爬行，爬行速度达6 cm/s。通过纵轴旋翼动力的布局设计和控制分配策略，机器人可以在0.4 s内从空中过渡到壁面（着落），并在0.7 s内从壁面过渡到空中（起飞），实现机器人在飞行与爬行模式之间的任意平滑转换。最终完成机器人在多种类型壁面的着落、爬行与起飞。

The high maneuverability and agility of insects in flight show a unique charm in nature. They use the flapping and twisting of the wings to change the speed and angle of attack, leading to the generation of lift and driving moment, so as to achieve unique flight skills. The wings of insects have diversified structure and dynamic properties, and their wing morphological structure and flapping mode also inspire us to optimize the flapping mechanism and wing design of the flapping wing system. Insects that can perform flapping-wing flight, climb on a wall, and switch smoothly between the two locomotion modes provide us with excellent biomimetic models. However, very few biomimetic robots can perform complex locomotion tasks that combine the two abilities of climbing and flying.

In this paper, the research on the morphological structure, mechanical properties, and coupling characteristics of wings in the black cicada (Cryptotympana atrata) is carried out. The geometric morphological data and microscopic structures of wings are observed, and the material mechanical properties of the wing membranes and veins are measured. The kinematic model of the wing is established to analyze the kinematic characteristic parameters of the flapping forewing, and the coupling theoretical model of the forewing and hindwing of C. atrata is constracted to analyze the aerodynamic effects of the change of the angle between the forewing and hindwing on the flapping flight. The flapping mechanism and artificial wing of the biomimetic flapping wing system are designed and optimized to analyze the wing deformation and the aerodynamic change during flapping, so as to reveal the aerodynamic influence of the leading-edge-rod flexibility on the lift. A bionic aerial–wall amphibious robot is further designed, which includes establishing the flapping-rotor wing hybrid power system, optimizing the overall layout and control strategy, and analyzing the kinematics and dynamics of robot flying and climbing. Finally the efficient and controllable flight, and landing to the vertical wall for stable climbing of the robot are realized. The flapping-rotor wing hybrid power flying, bionic adhesion climbing enhanced by aerodynamic negative pressure, and flying-climbing transition performance of the bionic amphibious robot are quantitatively analyzed to verify the effectiveness of the overall layout design and the control allocation strategy of the flying-climbing transition. The main research results are as follows:

(1) Research on the morphological structure and mechanical properties of the wing membranes and veins of C. atrata. A scanning electron microscope is used to represent the geometrical morphology of the microstructure of the wing membranes and veins and obtain their chemical composition. It is indicated that the forewing of C. atrata is composed of heterogeneous materials, and the thickness of the wing veins and membranes reduced gradually from wing base to wing tip, changed in gradient. The wing membrane and the outer wall of the wing vein are the layered structure with multilayer fibers, improving the ability of the forewing to sustain aerodynamic loads. The chemical component elements of the wing ensure the strength and flexibility of the wing when flapping. The tensile tests of the wing membranes and veins of the forewing analyze the structural and mechanical distribution characteristics of the wing membrane and vein on the flying aerodynamics and attitude control. The results demonstate that the high elastic modulus of the membrane ensures the lift generation and attitude control of C. atrata during flight. The wing membrane near the wing root is thicker and reinforced by the main wing vein with a high elastic modulus. This renders the region near the wing root difficult to deform. The membrane far from the wing root is thinner and the elastic modulus of the nearby wing veins is smaller, making them more flexible. The comparison of the elastic modulus range between wing membranes and veins with industrial materials provides important insights for the design of artificial wings for bionic flapping-wing flying system.

(2) Measurement and analysis of the coupling microstructure and dynamic characteristics of the forewing and hindwing. Scanning electron microscope is used to observe the coupled microstructure of the forewing and hindwing of C. atrata. A theoretical model of coupling connection structure is established, and the movement features of the rolled margin-groove coupling structure are analyzed. The dynamic characteristics of the wing flapping of C. atrata are observed by a high-speed camera and a six-dimensional force/torque sensor measurement system to analyze the changes of its trajectory in pronation and supination, upstroke and downstroke. It is found that the flapping trajectory of the wing of C. atrata shows a slender "0" shape, and the leading edge of the wings shows obvious flexibility. The kinematic model of the flapping wing of C. atrata is established, and the kinematic characteristics of the flapping wing are analyzed. Based on the coupling structure model of the forewing and hindwing, the aerodynamic effects of the change of the angle between the forewing and hindwing on the flapping flight of C. atrata are analyzed. The results show that the hinge structure of the wing coupling makes it easier to rotate between the forewing and hindwing, resulting in a certain degree of wing bending, beneficial angle of attack and appropriate wing profile, so as to generate stable lift in the wing translation phase.

(3) Design and optimization of the insect-like flapping wing system. The bionic flapping mechanism and wings are designed according to the flapping and structural characteristics of the wings of C. atrata. The objective function is established to optimize the structure parameters of the flapping mechanism, so that the flapping amplitude is increased from 71.4° to 90°. Wing parameter optimization experiments are conducted by changing the wing-vein layout, aspect ratio, taper ratio, surface area, and leading-edge-rod flexibility. The highest average lift of the optimized flapping wing system reaches 17 g, showing sufficient load capacity under constant input power P = 2.0 W. The aerodynamic reasons of wing parameters leading to lift change of flapping wing system are analyzed for the wing deformation and generated lift during flapping. It is indicated that the aspect ratio of the wing and the flexibility of the leading edge rod have prominent effects on lift. Owing to the increase in the leading-edge rod flexibility, the separation of the wing trailing edge is delayed during clapping, thereby enhancing the clap-and-fling effect, which is of great significance to the aerodynamic performance of the flapping wing system.

(4) Design of a bionic amphibious robot with the ability to fly and climb. The fuselage structure and attitude control mode of an amphibious robot are designed. The flapping-rotor wing hybrid power system is established on the basis of flapping wing system, the overall layout and system control strategy are optimized, and the kinematics and dynamics of robot flying and climbing are analyzed. It is demonstrated that the three-axis torque input and output of the flapping-rotor wing hybrid power control are independent and non-interfering. Moreover, the rotor improves the ultimate thrust of the power system, and the flapping wing improves the ultimate efficiency of the power system, so that the flapping-rotor wing hybrid power flight system is capable of both high thrust and efficiency. The climbing mechanism and biomimetic adhesion pad are designed and prepared according to the adhesion and climbing characteristics of insects on different surfaces, and the robot can stably climb on the vertical wall with a climbing speed of 6 cm/s by combining the aerodynamic negative pressure adsorption with the biomimetic adhesion climbing dynamic system. The longitudinal axis layout design of the rotor dynamics and control allocation strategy enable the robot to cross the air-wall boundary in 0.4 s (landing), and cross the wall-air boundary in 0.7 s (taking off), which realizes a smooth transition between flying and climbing modes. Finally, the robot can land, climb and take off on a variety of wall surfaces.

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