仿生扑翼飞行器翅翼扭转机构设计

Design of Twisting Mechanism of Flapping-Wing Micro Air Vehicle

为了解决仿生扑翼飞行器翅翼的扭转机构难于实现悬停和后退动作等问题,建立了扑翼飞行器的空气动力学模型,采用曲柄摇杆机构和滑槽结构分别设计了机翼尾部可滑动调节拉杆机构和翅翼前端的转杆机构,得到了一种可实现悬停与后退复合运动的翅翼扭转机构.仿真结果表明：当扭转机构各杆件长度为5mm、12mm、86mm和90mm时,扭转机构摇杆角度调节范围为120°～200°,翅翼攻角变动范围为5°,线性度为8.36%;调节扭转机构摇杆角度实现翅翼扭转.

The twisting mechanism of flapping-wings micro air vehicle（FMAV）is difficult to achieve hover and reverse movement.To solve this problem,the aerodynamic model of FMAV is established.A rod mechanism of crank-rocker mechanism and a turning lever mechanism of sliding slot are designed to facilitate adjusting the trailing of wings and rotating the leading edge of wing.The hover and reverse movement is achieved by the twisting mechanism.The simulation result shows：The rocker＇s angle range is from 120°to 200°,the angle of attack is changeable within 5°,and the linearity is 8.36%,while the lengths of bodies of the twisting mechanism are 5 mm,12 mm,86 mm and 90 mm respectively;Wing twisting is realized by adjusting the rocker＇s angle of twisting mechanism.