仿鸟扑翼飞行机器人执行机构优化设计的研究  

Actuator Optimization Design Research of Bird-Imitation Flapping Aero-Craft

作　　者：邓如应 艾志伟[1] 武永超[1] 邹光明[1] 

机构地区：[1]武汉科技大学机械自动化学院,湖北武汉430081

出　　处：《机械设计与制造》2015年第10期157-160,共4页Machinery Design & Manufacture

摘　　要：仿鸟扑翼飞行机器人结构多样,应用广泛。主要对仿鸟扑翼飞行机器人的扑翼飞行原理和执行机构进行了分析研究。在此基础上建立了以齿轮连杆机构作为执行机构的仿鸟扑翼飞行机器人的数学模型和三维模型,并采用黄金分割法结合MATLAB软件对执行机构进行了数值模拟和优化设计,得到了在最小传动角最大的情况下,满足扑翼飞行的最佳四杆机构。此外,研究过程中所建立的三维模型利用ADAMS软件进行了运动仿真模拟,得出分析结果与模型相符合,满足设计要求。所做的工作为仿鸟扑翼飞行机器人的理论研究和实际模型的建立提供了可靠的参照和引导。BIFA（Bird-imitation flapping aero-craft）has various structures and is widely used. It mainly analyzed and studied the principle and actuator of BIFA. The mathematical model and three dimensional model of BIFA with actuator based on geared linkage mechanism was established and made a better design by using golden section method and MATLAB which was aimed at finding out the maximum of the minimum transmission angle in four-link mechanism. A movement simulation of three dimensional model established in this study is made by using ADAMS,which got a conclusion consistent with the model and agreed with the design requirements. The work done provides a reliable reference and guide for the theory and actual model of BIFA.

关 键 词：仿鸟扑翼飞行机器人 执行机构 齿轮连杆 优化设计 MATLAB ADAMS 

分 类 号：TH16[机械工程—机械制造及自动化]