基于空间曲柄摆杆机构的扑翼飞行器驱动机构设计与分析

为了提高扑翼飞行器的飞行性能,借鉴生物的飞行运动特征,设计了一种基于空间摆杆机构的新型多自由度扑翼机构.通过运动学分析建立了扑翼飞行器驱动机构的运动学模型,利用Matlab对驱动机构运动学方程进行求解分析.结果表明：所设计的驱动机构通过单自由度驱动,就能够完成扑动、扭转耦合运动,其中上扑动幅度为64.098°,下扑动幅度为-64.098°,扭转角度为69.422°~99.327°,并且能够输出与生物飞行时翅翼相同的“8”字型轨迹,具有良好的气动性能.

Design and analysis of driving mechanism of flapping-wing aircraft based on space crank-swing rod mechanism

In order to improve the flight performance of the flapping-wing aircraft,a novel multi-degree of freedom flapping-wing mechanism based on the space pendulum mechanism was designed by referring to the flight motion characteristics of living things. The kinematic model of the driving mechanism of the flapping-wing aircraft is established through kinematics analysis,and then,the kinematic equation of the driving mechanism is solved and analyzed by MATLAB. The results show that the designed driving mechanism can realize flutter and torsion coupled motion through single-degree-of-freedom drive. And it can output the same "8"-shaped trajectory as the wings of the biological flight,and has good aerodynamic performance.