具有较大折展比的仿生可展机构的折叠特性分析

Folding Characteristics Analysis of a Bio-inspired Deployable Mechanism with a Large Folding Ratio

甲虫飞行的运动学特性不仅可以指导扑翼微型飞行器的设计,其后翅柔顺的折叠机理有利于设计大折展比的仿生可展刚性折展机构。文中基于甲虫后翅的折痕图案和折叠线的分布特性构造仿生等效折纸模型,分析了其刚性和可折叠性。设计了由四边形板和铰链构成并具有单自由度的可折叠太阳能板。然后使用ADAMS软件数值模拟可展机构的运动特性,确定了所设计模型的可展能力。所提出的仿生可展机构具有广泛的通用性,可以应用于可变翼机器人的翅翼优化设计。

The kinematic characteristics of beetle flight can not only guide the design of flapping wing micro air vehicles,but also facilitate the design of bionic deployable rigid folding mechanisms with large folding ratios due to the flexible folding mechanism of the hind wings.This paper constructs a bionic equivalent origami model based on the distribution characteristics of the fold patterns and fold lines of the beetle's hind wings,and analyzes its rigid foldability.A foldable solar panel with a single degree of freedom consisting of a quadrilateral plate and a hinge is designed.Then,ADAMS software is used to numerically simulate the kinematic characteristics of the deployable mechanism,the deployable ability of the designed model is determined.The proposed bionic deployable mechanism has a wide range of versatility and can be applied to the optimal design of wings of variable wing robots.