Optimising aerodynamic drag for enhanced robotic balancing

Abstract

This paper introduces an innovative optimisation study for the Drag-Inducing Device (DI) on the AeroTail, a novel robotic tail designed to achieve balancing purely through aerodynamic drag. Jumping robots traditionally rely on reaction wheels for flight-phase orientation control, but inspired by nature, we propose a mass-less, aerodynamic tail device to overcome the added weight issue, leading to the conceptualisation of the AeroTail. The study ambitiously aims to engineer a DI that maximises drag generation while maintaining minimal weight, a crucial factor in robotic balancing efficiency. Addressing the gap in available analytic and wind tunnel performance data for optimal DI shapes, this research employs Computational Fluid Dynamics (CFD) simulations to scrutinise various shapes and discern how specific features influence drag production. An optimisation problem is subsequently formulated, leading to the development of an ideal DI frame design characterised by innovative ‘T’ shaped sections. Rigorous experimental validation confirms the superiority of a semi-cylindrical shaped DI, which emerges as the top performer among all contenders. Notably, the study reveals that the orientation of DI installation on the tail significantly impacts torque generation, with some configurations achieving an impressive [Formula: see text] enhancement in performance. This research not only provides valuable insights into aerodynamic drag optimisation for robotic applications but also sets a new benchmark in the design and functionality of robotic balancing devices.

Keywords

• Robotic balancing
• aerodynamics
• CFD
• optimisation