两自由度仿生扑翼飞行机器人设计与运动分析  

Design and Kinematic Analysis of A 2-DOF Bionic Flapping-Wing Flying Robot

作　　者：阮龙欢 侯宇[1] 李诗雷 童超[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》2017年第6期241-244,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金项目:三维仿生悬停扑翼的时间非对称扑动及柔性变形耦合气动机理研究(51505347)

摘　　要：根据鸟类的飞行特性,设计了一种两自由度仿生扑翼飞行机器人。扑翼飞行机器人采用单电机驱动,能够实现扑动、扭转两自由度耦合运动,结构紧凑、运动高效,且机翼的运动形式接近鸟类。首先根据总体设计目标提出扑动-扭转耦合机构的运动特性要求,基于Adams建立了扑动-扭转耦合扑翼机构的运动学模型,通过仿真分析得到扑动和扭转运动的变化规律,并得到了翼尖轨迹曲线。扑动-扭转耦合机构的参数与设计结果达到了扑翼机构的运动要求,为仿生扑翼飞行机器人的设计和研究奠定了基础。According to the flight characteristics of birds, a 2-DOF bionic flapping-wing flying robot was designed. The flapping-wing mechanism was driven by single motor and could realize flapping and twisting coupling movement. The mechanism has compact structure and efficient motion and the form of wing＇s motion was closer to the birds. Firstly, the kinematic requirements of the coupling mechanism were put forward according to the overall design objectives. The kinematic model of the mechanism was built based on ADAMS. The kinematic characteristics of coupling mechanism were analyzed, and the wingtip trajectory was obtained through simulation. The parameters and design results of the coupling mechanism were satisfied with the kinematic requirements of the flapping mechanism. The analysis provided foundation for design and research of the bionic flapp ing-wing flying robot.

关 键 词：扑翼飞行机器人 扑翼机构 耦合运动 翼尖轨迹 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]