扑翼悬停飞行的刚体运动学建模与仿真  

Rigid Kinematics Modeling and Simulation on the Hovering Flight of Flapping Wings

作　　者：张威[1,2] 胡超[3] 张鹤丛 王笑冬[4] 

机构地区：[1]中国民航大学机场学院,天津300300 [2]中国民航地面特种设备研究基地,天津300300 [3]中国民航大学航空自动化学院,天津300300 [4]中国民航大学中欧航空工程师学院,天津300300

出　　处：《机械设计与制造》2016年第8期1-4,共4页Machinery Design & Manufacture

基　　金：中央高校基本科研业务费资助项目(Y15-09);国家自然科学基金民航联合基金(U1233106)

摘　　要：为了能够使昆虫悬停状态下翅膀的拍动过程用运动学方程进行表达,将扑翼飞行的翅膀简化为平面矩形刚体,翅膀的运动分解为"平动"和"转动"两种运动状态分别对其运动学建模,再利用运动的合成得到超前、对称、滞后三种不同悬停飞行模式下昆虫翅膀的运动方程。根据运动学方程,通过MATLAB仿真出昆虫翅膀悬停飞行时的拍动转角、翼尖速度和翼尖空间运动轨迹,从翼尖空间轨迹曲线可以看出,昆虫翅膀的运动轨迹是呈弯曲拉长的"8"字型,与自然昆虫观察研究结果一致。In order to be able to express the wing＇s flap process of insect in hovering flight situation with kinematics equation, it has simply assumed flapping wings as a fiat rectangular rigid body,the movements of wings have been divided into ＂translation＂ and ＂rotation＂ and to establish the kinematics model respectively,then obtained three different kinematic pattern of insect wings in hoveringflight mode by using the synthesis principle of motion,and the three kinematic pattern is advanced, symmetrical and delayed. According to the kinematic equation and through MATLAB the rotation angle ,wingtips velocity and space trajectory of inaect wings hovering flight are simulated. From the space trajectories simulated can see that the insect wingtips trajectory is crooked and elongated ＂8＂ shape ,in accordance with the natural insect observations and studies.

关 键 词：扑翼 悬停 刚体 运动学 仿真 

分 类 号：TH123.1[机械工程—机械设计及理论] TP319.9[自动化与计算机技术—计算机软件与理论]