基于空间RURS机构的三维仿生扑翼机构设计与分析
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摘要
为实现仿昆虫翼尖的空间"8"字型运动轨迹,设计了一种基于空间revolute-universal-revolute-spherical(RURS)四杆机构的扑翼机构,通过单自由度驱动即可输出三维的空间"8"字轨迹。运用Denavit-Hartenberg参数法建立了空间四杆机构的运动学模型,利用遗传算法对机构进行了优化,得到了利于扑翼飞行的机构参数。基于该空间四杆机构的优化结果,建立了一种微型的扑翼机构虚拟样机,通过ADAMS仿真得到其输出运动并验证了运动学理论计算的正确性。所设计的扑翼机构扑动幅度达到149.8°,扭转角度达到29.9°,且"8"字型扑动规律与昆虫翅膀的运动更为相近。扑翼机构的最大尺寸不超过5.8cm,仿真发现的时间非对称扑动对气动性能有一定提升,对于微型化、轻质化、高效化扑翼飞行器的研究具有重要的参考价值。
To mimic the spatial figure-of-eight trajectory of insect wing tips,a flapping wing mechanism based on spatial revolute-universal-revolute-spherical(RURS)four-bar linkage was designed to enable output of the three-dimensional spatial figure-of-eight trajectory with one input.Denavit-Hartenberg parameters method was used to establish the kinematic model of the spatial four-bar mechanism.Based on the genetic algorithm,the optimal parameters of linkages facilitating the flapping wing flight were acquired.A micro air vehicle virtual prototype was designed based on the optimal spatial four-bar linkage,meanwhile,the result of kinematic model was verified by ADAMS prototype simulation.The flapping amplitude of the flapping wing mechanism was 149.8°,and the twist angle was 29.9°,meanwhile the designed figure-of-eight flapping pattern was similar to insects in nature.The maximum size of the flapping wing mechanism was no more than 5.8 cm,and the time asymmetric flapping pattern found from the simulation results can improve the aerodynamic performance to a certain extent,providing valuable insight weight to design light weight and efficient microair-vehicles.
To mimic the spatial figure-of-eight trajectory of insect wing tips,a flapping wing mechanism based on spatial revolute-universal-revolute-spherical(RURS)four-bar linkage was designed to enable output of the three-dimensional spatial figure-of-eight trajectory with one input.Denavit-Hartenberg parameters method was used to establish the kinematic model of the spatial four-bar mechanism.Based on the genetic algorithm,the optimal parameters of linkages facilitating the flapping wing flight were acquired.A micro air vehicle virtual prototype was designed based on the optimal spatial four-bar linkage,meanwhile,the result of kinematic model was verified by ADAMS prototype simulation.The flapping amplitude of the flapping wing mechanism was 149.8°,and the twist angle was 29.9°,meanwhile the designed figure-of-eight flapping pattern was similar to insects in nature.The maximum size of the flapping wing mechanism was no more than 5.8 cm,and the time asymmetric flapping pattern found from the simulation results can improve the aerodynamic performance to a certain extent,providing valuable insight weight to design light weight and efficient microair-vehicles.
引文
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[17]朱保利,昂海松,郭力.一种新型三维仿生扑翼机构设计与分析[J].南京航空航天大学学报,2007,39(4):457-460.ZHU Baoli,ANG Haisong,GUO Li.Design and analysis of new 3Dinsect-like flapping-wing mechanism[J].Journal of Nanjing University of Aeronautics and Astronautics,2007,39(4):457-460.(in Chinese)
[18]黄真,赵永生,赵铁石.高等空间机构学[M].2版.北京:高等教育出版社,2014.
[19]PHILLIPS N,KNOWLES K.Effect of flapping kinematics on the mean lift of an insect-like flapping wing[J].Journal of Aerospace Engineering,2011,225(7):723-736.
[20]朱建阳,蒋林,雷斌.三维仿生悬停扑翼的时间非对称扑动气动特性[J].航空动力学报,2017,32(4):858-864.ZHU Jianyang,JIANG Lin,LEI Bin.Aerodynamic performance of time asymmetric flapping of a three-dimensional flapping hovering bionic wing[J].Journal of Aerospace Power,2017,32(4):858-864.(in Chinese)
[2]LIU H.An introduction to flapping wing aerodynaimcs[M].New York:Cambridge University Press,2013.
[3]DICKINSON M H,LEHMANN F O,SANE S P.Wing rotation and the aerodynamic basis of insect flight[J].Science,1999,284(5422):1954-1960.
[4]CONN A,BURGESS S,HYDE R,et al.From natural flyers to the mechanical realization of a flapping wing micro air vehicle[C]∥Proceedings of IEEE International Conference on Robotics and Biomimetics.Kunming:IEEE,2007:439-444.
[5]ORLOWSKI C T,GIRARD A R.Dynamics,stability,and con trol analyses of flapping wing micro-air vehicles[J].Progress in Aerospace Sciences,2012,51:18-30.
[6]张永立,赵创新,徐进良,等.扑翼轨迹对空气动力的影响[J].科学通报,2006,51(6):634-640.ZHANG Yongli,ZHAO Chuangxin,XU Jinliang,et al.The effect of kinematic of a flapping wing on its aerodynamic force[J].Chinese Science Bulletin,2006,51(6):634-640.(in Chinese)
[7]张红梅,杨文青.微型扑翼仿生“0”字和“8”字形扑动方式气动特性研究[J].航空工程进展,2016,7(1):44-50.ZHANG Hongmei,YANG Wenqing.Investigation of“0”-figure and“8”-figures wingtip path effect on aerodynamic performance of micro flapping-wing[J].Advances in Aeronautical,2016,7(1):44-50.(in Chinese)
[8]KARASEK M,HUA A,NAN Y,et al.Pitch and roll control mechanism for a hovering flapping wing MAV[J].International Journal of Micro Air Vehicles,2014,6(4):253-264.
[9]PHAN H V,KANG T,PARK H C.Design and stable flight of a 21g insect-like tailless flapping wing micro air vehicle with angular rates feedback control[J].Bioinspiration and Biomimetics,2017,12(3):036006.1-036006.17.
[10]FENELON M A A,FURUKAWA T.Design of an active flap ping wing mechanism and a micro aerial vehicle using a rotary actuator[J].Mechanism and Machine Theory,2010,45(2):137-146.
[11]NGUYEN Q V,CHAN W L,DEBIASI M.Hybrid design and performance tests of a hovering insect-inspired flapping-wing micro aerial vehicle[J].Journal of Bionic Engineering,2016,13(2):235-248.
[12]谢鹏,姜洪利,周超英.一种仿生扑翼飞行器的设计及动力学分析[J].航空动力学报,2018,33(3):703-710.XIE Peng,JIANG Hongli,ZHOU Chaoying.Design and dynamic analysis of a flapping air vehicles[J].Journal of Aerospace Power,2018,33(3):703-710.(in Chinese)
[13]PORNSIN-SIRIRAK T N,TAI Y C,HO C M,et al.Microbat:apalm-sized electrically powered ornithopter[C]∥Proceedings of the NASA/JPL Workshop on Biomorphic Robotics.Pasadena,US:NASA,2001:14-17.
[14]DE CROON G C,GROEN M A,DE W C,et al.Design,aerodynamics and autonomy of the DelFly[J].Bioinspiration and Biomimetics,2012,7(2):025003.1-025003.36.
[15]徐一村,宗光华,毕树生,等.空间曲柄摇杆扑翼机构设计分析[J].航空动力学报,2009,24(2):204-208.XU Yicun,ZONG Guanghua,BI Shusheng,et al.Design and analysis of a spatial crank-rocker flapping-wing mechanism[J].Journal of Aerospace Power,2009,24(2):204-208.(in Chinese)
[16]WANG P L,MCCARTHY J M.Design of a flapping wing mechanism to coordinate both wing swing and wing pitch[J].Journal of Mechanisms and Robotics,2018,10(2):025003.1-025003.6.
[17]朱保利,昂海松,郭力.一种新型三维仿生扑翼机构设计与分析[J].南京航空航天大学学报,2007,39(4):457-460.ZHU Baoli,ANG Haisong,GUO Li.Design and analysis of new 3Dinsect-like flapping-wing mechanism[J].Journal of Nanjing University of Aeronautics and Astronautics,2007,39(4):457-460.(in Chinese)
[18]黄真,赵永生,赵铁石.高等空间机构学[M].2版.北京:高等教育出版社,2014.
[19]PHILLIPS N,KNOWLES K.Effect of flapping kinematics on the mean lift of an insect-like flapping wing[J].Journal of Aerospace Engineering,2011,225(7):723-736.
[20]朱建阳,蒋林,雷斌.三维仿生悬停扑翼的时间非对称扑动气动特性[J].航空动力学报,2017,32(4):858-864.ZHU Jianyang,JIANG Lin,LEI Bin.Aerodynamic performance of time asymmetric flapping of a three-dimensional flapping hovering bionic wing[J].Journal of Aerospace Power,2017,32(4):858-864.(in Chinese)