基于空间RCSCR机构的仿生扑翼驱动机构设计与分析  

Design and Analysis of Bionic Flapping Wing Driving Mechanism Based on Space RCSCR Mechanism

作　　者：张瑞坤 何畏[2] 曾小义 ZHANG Ruikun;HE Wei;ZENG Xiaoyi(Chongqing Electric Power College,School of Intelligent Engineering,Chongqing 400043,China;Southwest Petroleum University,School of Mechanical and Electrical Engineering,Chengdu 610500,China)

机构地区：[1]重庆电力高等专科学校智能工程学院,重庆400043 [2]西南石油大学机电工程学院,成都610500

出　　处：《机械设计与研究》2024年第4期56-60,共5页Machine Design And Research

基　　金：重庆市教育委员会科学技术研究项目(KJQN202302609);重庆电力高等专科学校科学研究项目(D-KY202424)。

摘　　要：为了提高扑翼飞行器的飞行性能,以鹰为仿生设计对象,基于空间RCSCR摆杆机构,设计了一种新型仿鹰扑翼驱动机构。首先,通过对鹰的结构和飞行姿态进行仿生学研究,对仿鹰扑翼飞行器的驱动机构进行了仿生设计。然后通过运动学分析,建立了扑翼飞行器RCSCR驱动机构的运动学模型。最后利用ADAMS仿真软件对扑翼驱动机构进行运动学仿真分析,对其理论分析进行验证。结果表明:所设计的空间RCSCR扑翼驱动机构输出运动与鹰的翅翼相同,能够同时实现扑动-扭转-折叠运动,其中扑动幅度为-38.66°~40.05°;扭转幅度为-14.9°~15.05°;折叠角为42.21°~77.32°;并且输出的“8”字型轨迹与鹰的翼尖运动轨迹相同,具有良好的气动性能。In order to improve the flight performance of ornithopter,this paper takes the eagle as the bionic design object and designs a new flapping,torsional and folding bionic eagle flapping wing drive mechanism based on space RCSCR pendulum mechanism.Firstly,the driving mechanism of the flapping wing aircraft is designed through the bionics research on the structure and flight posture of the eagle.Then the kinematic analysis of the space RCSCR driving mechanism is carried out,and the kinematic model of the flapping wing aircraft driving mechanism is established.Finally,a simulation model of the flapping wing driving mechanism is established in ADAMS simulation software.The output motion is obtained through ADAMS simulation and the correctness of kinematics theory calculation is verified.The results show that the designed spatial RCSCR flapping wing drive mechanism can realize flapping,torsional and folding motion of the wing,with aflapping amplitude of-38.66~40.05°,a torsional amplitude of-14.9~15.05°,and a folding angle of 42.21~77.32°.And the output“8”shaped trajectory is the same as the wingtip trajectory of the eagle flapping wing,which has good aerodynamic performance.

关 键 词：扑翼飞行器 RCSCR 运动学分析 ADAMS 

分 类 号：TH12[机械工程—机械设计及理论]