压电双晶片驱动的仿生柔性扑翼机构研究

Study on insect-based flapping-wing system driven by piezoelectric bimorph

分析了昆虫的翅膀-胸部运动系统,并以此为基础,仿生设计出压电双晶片驱动,柔性双摇杆机构放大位移并带动仿生翅拍动的扑翼系统。分析了压电双晶片的工作原理,讨论了柔性四杆机构的自由度和运动学,并对整个系统的准静力学进行探讨,以确定能否产生足够的力克服空气阻尼。仿真和实验结果表明,通过柔性机构放大压电双晶片位移,能实现仿生翅所需运动,同时进一步的优化设计将有助于改进扑翼机构的运动性能。

On basis of the insect thorax-wing structure, a flapping-wing system consisting of the bimorph piezoelectric actuator, compliant mechanism, and bionic wing was presented. The principle of bimorph piezoelectric actuator was introduced, and the kinematics of compliant four-link mechanism was discussed. Using the quasi-state force theory, the output force at the insect-based wing for overcoming the aerodynamic damping was studied. The simulation results are helpful to determine the motion of insect-based wings. At the same time, the design of bimorph actuators and compliant mechanisms with optimal structure can improve the moving properties of flapping mechanism.