Design and experiment on prototype of bionic climbing gliding robot
                                                                HUANG Wei1, WU Shilin2, CHENG Hao3
（1.Department of Mechanical Engineering, Qinghai Communications Technical college, Xining 810028, China;2.Institute of Robotics, Beihang University, Beijing 100191, China;3.Zhejiang Machinery Industry Information Institute, Hangzhou 310009, China）

Abstract: Aiming at the problems of the multilegged climbing robot, such as low speed, poor stability and difficult recovery, the configuration and motion mechanism of quadruped gliding organisms such as flying squirrel were analyzed. The fluctuating gait model of gliding control of flying squirrel was extracted, a new multimode motion model was proposed, the gliding robot was constructed on the basis of bionic climbing robot. The parameters of the gliding robot, such as the relationships of liftdrag coefficient, pitching moment and pitching angle, and stable gliding speed, were determined by using Fluent. The validity of simulation was proved by gliding experiment. The results indicate that the gliding robot can change its aerodynamic characteristics and realize the attitude adjustments of pitch, roll and yaw, and maintain the stability and effectiveness of gliding process through the shape of the wing membrane.

Key words: climbing robot; gliding robot; gliding trajectory; fluctuating gait