| 357 | 0 | 97 |
| 下载次数 | 被引频次 | 阅读次数 |
微型飞行器是国内外无人系统领域的研究热点之一。自然界的飞行生物为微型飞行器的研制提供了新思路，因此近年来涌现出众多以生物为原型的仿生扑翼微型飞行器。这类飞行器具有隐蔽性好、机动性强、尺度微小、效率高等优势，在国家安全和经济民生等领域展现出广阔的应用前景。蜻蜓的续航能力和机动性能尤为突出，以其为原型的仿蜻蜓扑翼微型飞行器是未来发展的重要布局之一。针对近年来仿蜻蜓扑翼微型飞行器的仿生原理和样机研制进展进行综述。首先，介绍了蜻蜓翅膀的结构特征与运动特性；随后，总结了影响蜻蜓飞行性能的重要因素，如：旋涡干扰、扑动相位差等，并解释了上述因素影响气动性能的机理；之后，梳理了蜻蜓在悬停、起飞、转向等飞行模式下的控制方式；最后，系统归纳了国内外仿蜻蜓扑翼微型飞行器的研制进展。此外，指出了仿蜻蜓扑翼微型飞行器的未来研究方向，包括感传一体仿生扑翼设计、微型驱传集成系统设计和微型低功耗功能模块开发，旨在指导仿蜻蜓扑翼微型飞行器的样机研制。
Abstract：Micro-aircraft is a research hotspot in the field of unmanned systems worldwide. Flying organisms in nature have provided new insights for the development of micro-aircraft, and in recent years, biomimetic flapping-wing micro-aircraft based on biological prototypes has emerged in large numbers. These aircraft possess advantages including strong stealth performance, high maneuverability, small size, and high energy efficiency, showing broad application prospects in national security, economic development and social wellbeing. Dragonflies, with their excellent endurance and maneuverability, and dragonfly-inspired flappingwing micro-aircraft have been identified as a pivotal orientation for future development. This paper reviews the biomimetic principles and prototype development progress of dragonfly-inspired flapping-wing micro-aircraft in recent years. First, the structure and kinematic characteristics of dragonfly wings are introduced. Then, important factors affecting dragonfly flight performance, such as eddy current interference and flapping phase difference, are summarized, and the mechanisms by which these factors affect aerodynamic performance are explained. Third, the control methods for dragonflies in hovering, takeoff, and turning flight modes are introduced, Finally, the development progress of dragonfly-inspired flapping-wing micro-aircraft across the globe is systematically reviewed. In addition, this paper also points out the future research directions of dragonfly flapping-wing micro-aircraft, including the design of integrated sensor-transmission biomimetic flapping wings, the design of micro-drive-transmission integrated systems, and the development of micro lowpower functional modules, aiming to guide the prototype development of dragonfly flapping-wing microaircraft.
[1]吴江浩，张艳来，周超.仿生扑翼微型飞行器概论[M].北京：北京航空航天大学出版社，2024.WU J H, ZHANG Y L, ZHOU C. An introduction to bionic flapping-wing micro aerial vehicles[M]. Beijing:Beijing University of Aeronautics and Astronautics Press, 2024.(in Chinese)
[2]程诚，陈隆，张艳来，等.可悬停仿生扑翼微型飞行器气动设计综述[J].空气动力学学报，2025, 43(2):1-26.CHENG C, CHEN L, ZHANG Y L, et al. A review of aerodynamic design for hovering biomimetic flappingwing micro-aircraft[J]. Chinese Journal of Aerodynamics, 2025, 43(2):1-26.(in Chinese)
[3]周代强.仿蜻蜓扑翼飞行器研制[D].成都：西华大学，2021.ZHOU D Q. Development of a dragonfly-inspired flapping-wing flying vehicle[D]. Chengdu:Xihua University, 2021.(in Chinese)
[4]WU J, CHENG C, ZHANG Y, et al. Design of a hovercapable flapping wing micro air vehicle with abdomenwing coupled control[J]. Chinese Journal of Aeronautics, 2025:103807.
[5]张悦，褚松涛，吴江浩，等.仿蝴蝶扑翼前飞升力及推力特性的数值仿真研究[J].无人系统技术，2025, 8(2):57-70.ZHANG Y, CHU S T, WU J H, et al. Numerical simulation study on lift and thrust characteristics of butterfly flapping wings[J]. Unmanned Systems Technology,2025, 8(2):57-70.(in Chinese)
[6]HUANG H, HE W, WANG J, et al. An all servo-driven bird-like flapping-wing aerial robot capable of autonomous flight[J]. IEEE/ASME Transactions on Mechatronics, 2022, 27(6):5484-5494.
[7]CHEN A, SONG B, LIU K, et al. Flapping-wing robot achieves bird-style self-takeoff by adopting reconfigurable mechanisms[J]. Science Advances, 2025, 11(36):465.
[8]JAFFERIS N T, HELBLING E F, KARPELSON M, et al. Untethered flight of an insect-sized flapping-wing microscale aerial vehicle[J]. Nature, 2019, 570(7762):491-495.
[9]SUN X, GONG X, HUANG D. A review on studies of the aerodynamics of different types of maneuvers in dragonflies[J]. Archive of Applied Mechanics, 2017, 87(3):521-554.
[10]SALAMI E, WARD T A, MONTAZER E, et al. A review of aerodynamic studies on dragonfly flight[J]. Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2019, 233(18):6519-6537.
[11]LIU Q, ZHU C, RU W, et al. Dragonfly morphologyinspired wing design for enhanced micro-aircraft performance[J]. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2025, 47(2):86.
[12]HU Y, RU W, LIU Q, et al. Design and aerodynamic analysis of dragonfly-like flapping wing micro air vehicle[J]. Journal of Bionic Engineering, 2022, 19(2):343-354.
[13]HEFLER C, QIU H, SHYY W. Aerodynamic characteristics along the wing span of a dragonfly Pantala flavescens[J]. Journal of Experimental Biology, 2018, 221(19):171199.
[14]ZHENG Y, WU Y, TANG H. Force measurements of flexible tandem wings in hovering and forward flights[J].Bioinspiration&Biomimetics, 2015, 10(1):16021.
[15]ZHANG S, OCHIAI M, SUNAMI Y, et al. Influence of microstructures on aerodynamic charac-teristics for dragonfly wing in gliding flight[J]. Journal of Bionic Engineering, 2019, 16(3):423-431.
[16]SHUMWAY N, GABRYSZUK M, LAURENCE S. The impact of dragonfly wing deformations on aerodynamic performance during forward flight[J]. Bioinspiration&Biomimetics, 2020, 15(2):26005.
[17]LI C, DONG H. Wing kinematics measurement and aerodynamics of a dragonfly in turning flight[J]. Bioinspiration&Biomimetics, 2017, 12(2):26001.
[18]DARVIZEH, DARVIZEH, RAJABI, et al. Free vibration analysis of dragonfly wings using finite element method[J]. The International Journal of Multiphysics,2009, 3(1):101-110.
[19]FAUZIYAH S, SOESILOHADI R C H, RETNOAJI B,et al. Dragonfly wing venous cross-joints inspire the design of higher-performance bolted timber truss joints[J].Composites Part B:Engineering, 2016, 87:274-280.
[20]HEFLER C, NODA R, QIU H H, et al. Aerodynamic performance of a free-flying dragonfly—a span-resolved investigation[J]. Physics of Fluids, 2020, 32(4):41903.
[21]KESEL A B, PHILIPPI U, NACHTIGALL W. Biomechanical aspects of the insect wing:An analysis using the finite element method[J]. Computers in Biology and Medicine, 1998, 28(4):423-437.
[22]REES C J C. Aerodynamic properties of an insect wing section and a smooth aerofoil compared[J]. Nature,1975, 258(5531):141-142.
[23]RUDOLPH R. Aerodynamic properties of Libellula quadrimaculata L.(Anisoptera:Libellulidae), and the flow around smooth and corrugated wing section models during gliding flight[J]. Odonatologica, 1978, 7(1):49-58.
[24]WANG Z J. The role of drag in insect hovering[J].Journal of Experimental Biology, 2004, 207(23):4147-4155.
[25]ELLINGTON C P. The aerodynamics of hovering insect flight. I. The quasi-steady analysis[J]. Philosophical Transactions of the Royal Society of London. B, Biological Sciences, 1984, 305(1122):1-15.
[26]LI D, MU Y, LAU G K, et al. Numerical study on the aerodynamic performance of dragonfly(Anax parthenope julius)maneuvering flight during synchronizedstroking[J]. Physics of Fluids, 2024, 36(9):91911.
[27]AZUMA A, WATANABE T. Flight performance of a dragonfly[J]. Journal of Experimental Biology, 1988,137(1):221-252.
[28]SOMPS C, LUTTGES M. Dragonfly Flight:Novel uses of unsteady separated flows[J]. Science, 1985, 228(4705):1326-1329.
[29]SUN M, LAN S L. A computational study of the aerodynamic forces and power requirements of dragonfly(Aeschna juncea)hovering[J]. Journal of Experimental Biology, 2004, 207(11):1887-1901.
[30]BOMPHREY R J, NAKATA T, HENNINGSSON P, et al. Flight of the dragonflies and damselflies[J]. Philosophical Transactions of the Royal Society B:Biological Sciences, 2016, 371(1704):20150389.
[31]CHEN Z, XIE Y, ZHANG Y, et al. Aerodynamics of a flapping wing with stroke deviation in forward flight[J].Physics of Fluids, 2024, 36(5):51908.
[32]WAKELING J M, ELLINGTON C P. Dragonfly Flight:II. Velocities, accelerations and kinematics of flapping flight[J]. Journal of Experimental Biology, 1997, 200(3):557-582.
[33]CHEN Y H, SKOTE M, ZHAO Y, et al. Dragonfly(Sympetrum flaveolum)flight:Kinematic measurement and modelling[J]. Journal of Fluids and Structures,2013, 40:115-126.
[34]CHEN Y H, SKOTE M. Study of lift enhancing mechanisms via comparison of two distinct flapping patterns in the dragonfly Sympetrum flaveolum[J]. Physics of Fluids, 2015, 27(3):33604.
[35]LIU C, DU R, LI F, et al. Bioinspiration of the vein structure of dragonfly wings on its flight characteristics[J]. Microscopy Research and Technique, 2022,85(3):829-839.
[36]CHEN J S, CHEN J Y, CHOU Y F. On the natural frequencies and mode shapes of dragonfly wings[J]. Journal of Sound and Vibration, 2008, 313(3-5):643-654.
[37]SUDHAKAR Y, VENGADESAN S. Flight force production by flapping insect wings in inclined stroke plane kinematics[J]. Computers&Fluids, 2010, 39(4):683-695.
[38]SRIGRAROM S, THIPYOPAS C. Aerodynamics of southern Hawker dragonfly:Aeshna cyanea[M]//33rd AIAA Applied Aerodynamics Conference, Dallas, Texas, USA, 2015.
[39]HUANG H, SUN M. Dragonfly forewing-hindwing interaction at various flight speeds and wing phasing[J].AIAA Journal, 2007, 45(2):508-511.
[40]BROERING T M, LIAN Y S. The effect of phase angle and wing spacing on tandem flapping wings[J]. Acta Mechanica Sinica, 2012, 28(6):1557-1571.
[41]HU Z, DENG X. Aerodynamic effect of forewing-hindwing interactions in hovering and forward flight of dragonfly[D]. Newark:University of Delaware, 2008.
[42]DONG H, LIANG Z. Effects of ipsilateral wing-wing interactions on aero-dynamic performance of flapping wings[C]//48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition, Orlando, USA, 2010.
[43]BROERING T M, LIAN Y, HENSHAW W. Numerical investigation of energy extraction in a tandem flapping wing configuration[J]. AIAA Journal, 2012, 50(11):2295-2307.
[44]WANG J K, SUN M. A computational study of the aerodynamics and forewing-hindwing interaction of a model dragonfly in forward flight[J]. Journal of Experimental Biology, 2005, 208(19):3785-3804.
[45]HU Z, MCCAULEY R, SCHAEFFER S, et al. Aerodynamics of dragonfly flight and robotic design[C]//2009IEEE International Conference on Robotics and Automation, Piscataway, New York, USA, 2009.
[46]HU Z, DENG X Y. Aerodynamic interaction between forewing and hindwing of a hovering dragonfly[J]. Acta Mechanica Sinica, 2014, 30(6):787-799.
[47]SHILONG L, MAO S. Aerodynamic force and flow structures of two airfoils in flapping motions[J]. Acta Mechanica Sinica, 2001, 17(4):310-331.
[48]SRINIDHI N G, VENGADESAN S. Ground effect on tandem flapping wings hovering[J]. Computers&Fluids, 2017, 152:40-56.
[49]PENG L, PAN T, ZHENG M, et al. Kinematics and aerodynamics of dragonflies(Pantala flavescens, Libellulidae)in climbing flight[J]. Frontiers in Bioengineering and Biotechnology, 2022, 10:1-10.
[50]FAISAL A H M, FILIPPONE A. Aerodynamic model for tandem flapping wings[J]. AIAA Journal, 2016, 54(12):3849-3858.
[51]BROERING T M, LIAN Y. Numerical study of tandem flapping wing aerodynamics in both two and three dimensions[J]. Computers&Fluids, 2015, 115:124-139.
[52]PENG L, ZHENG M, PAN T, et al. Tandem-wing interactions on aerodynamic performance inspired by dragonfly hovering[J]. Royal Society Open Science, 2021,8(8):202275.
[53]ZHAO L, HUANG Q, DENG X, et al. Aerodynamic effects of flexibility in flapping wings[J]. Journal of the Royal Society Interface, 2009, 7(44):485-497.
[54]COMBES S A, DANIEL T L. Into thin air:Contributions of aerodynamic and inertial-elastic forces to wing bending in the hawkmoth Manduca sexta[J]. Journal of Experimental Biology, 2003, 206(17):2999-3006.
[55]MOUNTCASTLE A M, DANIEL T L. Aerodynamic and functional consequences of wing compliance[J]. Experiments in Fluids, 2009, 46(5):873-882.
[56]SUN W, WANG Y, HE G, et al. Effects of kinematic parameters and corrugated structure on the aerodynamic performance of flexible dragonfly wings[J]. Journal of Fluids and Structures, 2024, 125:104058.
[57]LIU H, HE G, MA C, et al. A computational study of the aerodynamic performance of a dragonfly forewing in gliding flight[C]//2017 Asia Conference on Mechanical and Aerospace Engineering, Yokohama, Japan, 2018.
[58]OBATA A, SINOHARA S. Flow visualization study of the aerodynamics of modeled dragonfly wings[J]. AIAA Journal, 2009, 47(12):3043-3046.
[59]OBATA A, SHINOHARA S, AKIMOTO K, et al.Aerodynamic bio-mimetics of gliding dragonflies for ultra-light flying robot[J]. Robotics, 2014, 3(2):163-180.
[60]SUN J, BHUSHAN B. The structure and mechanical properties of dragonfly wings and their role on flyability[J]. Comptes Rendus Mécanique, 2012, 340(1):3-17.
[61]CHEN Y H, SKOTE M. Gliding performance of 3D corrugated dragonfly wing with spanwise variation[J]. Journal of Fluids and Structures, 2016, 62:1-13.
[62]FUJITA Y, IIMA M. Dynamic lift enhancement mechanism of dragonfly wing model by vortex-corrugation interaction[J]. Physical Review Fluids, 2023, 8(12):123101.
[63]FUJITA Y, IIMA M. Aerodynamic performance of dragonfly wing model that starts impulsively:How vortex motion works[J]. Journal of Fluid Science and Technology, 2023, 18(1):13.
[64]WANG Y, HE X, HE G, et al. Aerodynamic performance of the flexibility of corrugated dragonfly wings in flapping flight[J]. Acta Mechanica Sinica, 2022, 38(11):322038.
[65]WANG Y, HE G. Effects of spatiotemporal parameters and flexible corrugated structures on dragonfly aerodynamics[J/OL]. 2023-06-29[2025-11-28]. https：//www. researchsquare. com/article/rs-3118594/v1.
[66]ELLINGTON C P, VAN D B C, WILLMOTT A P, et al.Leading-edge vortices in insect flight[J]. Nature,1996, 384(6610):626-630.
[67]CHEN L, ZHOU C, WERNER N H, et al. Dual-stage radial-tangential vortex tilting reverses radial vorticity and contributes to leading-edge vortex stability on revolving wings[J] Journal of Fluid Mechanics, 2023,963:29.
[68]孙卫.仿蜻蜓机器人的设计与测试研究[D].北京：北方工业大学，2017.SUN W. Design and testing research of dragonfly-like robot[D]. Beijing:North China University of Technology, 2017.(in Chinese)
[69]CHEN L, WU J. Coexistence of dual wing-wake interaction mechanisms during the rapid rotation of flapping wings[J]. Journal of Fluid Mechanics, 2024, 987:16.
[70]DICKINSON M H, LEHMANN F O, SANE S P. Wing rotation and the aerodynamic basis of insect flight[J].Science, New Series, 1999, 284(5422):1954-1960.
[71]ETKIN B, REID L D. Dynamics of flight:Stability and control[M]. John Wiley&Sons, 1995.
[72]LIANG B, SUN M. Dynamic flight stability of a hovering model dragonfly[J]. Journal of Theoretical Biology,2014, 348:100-112.
[73]HIROHASHI K, INAMURO T. Hovering and targeting flight simulations of a dragonfly-like flapping wing-body model by the immersed boundary-lattice Boltzmann method[J]. Fluid Dynamics Research, 2017, 49(4):45502.
[74]LI Q, ZHENG M, PAN T, et al. Experimental and numerical investigation on dragonfly wing and body motion during voluntary take-off[J]. Scientific Reports, 2018,8:1011.
[75]SHANMUGAM A, SOHN C. Numerical investigation of the aerodynamic performance of dragonfly-like flapping foil in take-off flight[J]. Proceedings of the Institution of Mechanical Engineers, Part G:Journal of Aerospace Engineering, 2019, 233(15):5801-5815.
[76]SHUMWAY N, GABRYSZUK M, LAURENCE S J.Flapping tandem-wing aerodynamics:Dragonflies in steady forward flight[M]//American Institute of Aeronautics and Astronautics, 2018.
[77]HINO H, INAMURO T. Turning flight simulations of a dragonfly-like flapping wing-body model by the immersed boundary-lattice Boltzmann method[J]. Fluid Dynamics Research, 2018, 50(6):65501.
[78]BODE-OKE A T, ZEYGHAMI S, DONG H. Flying in reverse:Kinematics and aerodynamics of a dragonfly in backward free flight[J]. Journal of the Royal Society Interface, 2018, 15(143):20180102.
[79]DILEO C, DENG X. Design of and experiments on a dragonfly-inspired robot[J]. Advanced Robotics, 2009,23(7-8):1003-1021.
[80]DILEO C. Development of a tandem-wing flapping micro aerial vehicle prototype and experimental mechanism[D]. Newark:University of Delaware, 2007.
[81]GAISSERT N, MUGRAUER R, MUGRAUER G, et al.Inventing a micro aerial vehicle inspired by the mechanics of dragonfly flight[C]//Towards Autonomous Robotic Systems, Berlin, Germany, 2014.
[82]RATTI J, JONES E, VACHTSEVANOS G. Hovering and gliding multi-wing flapping micro aerial vehicle:US9290268B2[P/OL]. 2016[2025-11-28]. https：//patents.google.com/patent/US9290268B2/en.
[83]张锐.蜻蜓转弯和侧飞时气动特性研究及仿蜻蜓样机研制[D].哈尔滨：哈尔滨工业大学，2018.ZHANG R. Study on aerodynamic characteristics of dragonflies during turning and side flight and development of dragonfly prototype[D]. Harbin:Harbin Institute of Technology, 2018.(in Chinese)
[84]CHEN Y, ARASE C, REN Z, et al. Design, characterization, and liftoff of an insect-scale soft robotic dragonfly powered by dielectric elastomer actuators[J]. Micromachines, 2022, 13(7):1136.
[85]LIU F, LI S, XIANG J, et al. A dragonfly-inspired flapping wing robot mimicking force vector control approach[C]//2024 IEEE International Conference on Robotics and Automation, ICRA, New York, USA, 2024.
[86]MA H, GONG P, TIAN Y, et al. Hifly-dragon:A dragonfly inspired flapping flying robot with modified,resonant, direct-driven flapping mechanisms[J].Drones, 2024, 8(4):126.
[87]CHENG D, YANG Z, CHEN G, et al. Design and implementation of an independent-drive bionic dragonfly robot[J]. Bioinspiration&Biomimetics, 2025, 20(2):26023.
基本信息:
DOI：10.19942/j.issn.2096-5915.2026.01.01
中图分类号:V276
引用信息:
[1]王浦淏,任尚清,周超,等.仿蜻蜓扑翼微型飞行器仿生原理与研究进展[J].无人系统技术,2026,9(01):1-22.DOI:10.19942/j.issn.2096-5915.2026.01.01.
基金信息:
国家自然科学基金(12472231;12572264)
2026-02-15
2026-02-15