多自由度扑翼驱动机构设计与动力学性能分析  

Design and dynamic performance analysis of multi-degree-of-freedom flapping wing driving mechanism

作　　者：张弘志 宋笔锋[1,2,3] 孙中超 汪亮 毛利文 张旺旺 ZHANG Hongzhi;SONG Bifeng;SUN Zhongchao;WANG Liang;MAO Liwen;ZHANG Wangwang(School of Aeronautics,Northwestern Polytechnical University,Xi’an 710072,China;School of Automobile and Transportation,Chengdu Technological University,Chengdu 610031,China;Yangtze River Delta Research Institute,Northwestern Polytechnical University,Taicang Jiangsu 215400,China)

机构地区：[1]西北工业大学航空学院,西安710072 [2]成都工业学院汽车与交通学院,成都610031 [3]西北工业大学太仓长三角研究院,江苏太仓215400

出　　处：《航空动力学报》2024年第4期20-30,共11页Journal of Aerospace Power

基　　金：陕西省重点研发计划项目(2020ZDLGY06-05,2021ZDLGY09-10);国家自然科学基金(51905431)。

摘　　要：为实现微型扑翼飞行器的扑动翼沿复杂轨迹运动,设计了一种扑动—扫掠多自由度扑翼驱动机构。针对该机构在高频运动过程中各传动构件的惯性力与弹性变形对原动机驱动力造成影响的问题,建立了该机构的刚柔耦合动力学模型,同时提出可对原动机实际所需驱动力与其理想值之间差异进行量化处理的动力学性能因子,结合正交试验研究了机构中各薄板构件的厚度对机构动力学性能的影响规律。结果表明:受面外载荷的薄板构件对驱动机构动力学性能的影响较大,且所在传动链的传力路径越长、位置越靠近原动机,其影响越显著;驱动机构的扑动运动性能强于扫掠运动性能;此外驱动机构的动力学性能并非与薄板构件厚度呈正相关的关系。In order to realize the movement of the micro flapping-wing aircrafts’wings along the complex trajectory,a flap-sweep multi-degree-of-freedom flapping-wing driving mechanism was designed.In view of the problem that the inertial force and elastic deformation of the mechanism’s transmission components affect the actuators’driving force during the high-frequency motion,a rigidflexible coupling dynamic model of the mechanism was established.At the same time,a dynamic performance factor that can quantify the difference between the driving force required by the actuators and its ideal value was proposed.Finally,combined with the orthogonal experiment,the influence of each thinplate-component’s thickness on the dynamic performance of the mechanism was studied.The research results showed that the thin-plate-component subjecting to the out-of-plane load had a great influence on the dynamic performance of the driving mechanism,and the longer transmission chain’s forcetransmission-path and the closer position to the actuators indicated the more significant impact;the flapping motion performance of the driving mechanism was stronger than the sweeping motion performance;In addition,the dynamic performance of the driving mechanism was not positively related to the thin-plate-component’s thickness.

关 键 词：微型扑翼飞行器 多自由度驱动机构 刚柔耦合 正交试验 动力学性能因子 

分 类 号：V276[航空宇航科学与技术—飞行器设计]