扑翼飞行器驱动机构的优化设计与仿真

Optimization Design And Simulation for Driving Mechanism of Flapping-wing Air Vehicle

针对目前双曲柄双摇杆结构应用在扑翼飞行器设计上较少,研究分析了扑翼驱动机构基于最小传动角最大的优化设计方法。在对传统四杆机构图解法的基础上,建立最小传动角与扑翼机架长度的关系模型。根据鸟类扑翼飞行的仿生条件,导出了机架安装角与扑翼扑动幅值、曲柄驱动角运动方程。利用MATLAB进行求解,确定驱动机构最优设计方案。建立扑翼驱动机构的虚拟样机,在ADAMS平台上进行虚拟运动仿真。结果表明,驱动机构的优化设计模型与扑翼扑动理论参数模型一致,此优化设计方法可行实用。

In allusion to the study of flapping - wing air vehicles （FAV） with double - crank and double - rocker kind construction at present, the optimization design method of the flapping - wing driving mechanism with maximum value of minimum transmission angle is studied and analyzed. Based on classic graphical method on four -bar linkage mechanism, the function relation model of minimum transmission angle and the length of FAV is established. According to the bionic condition of birds flapping - wing flight, the installation angle and flap - wing flapping range and the function of crank driven angle are introduced. An optimization design scheme of the driving mechanism is obtained by utilizing Matlab. The virtual prototype of flapping - wing driving mecha- nism is built and a virtual kinetic simulation is conducted by utilizing ADAMS, the result shows that the optimi- zation design model of driving mechanism is conformed with theory parameter model of FAV flapping, thus this design method is proved to be practicable and efficient.