柔性空间扑翼机构的刚柔耦合动力特性分析

针对目前扑翼驱动机构无法以简单结构实现复杂仿生运动问题,由空间四杆机构出发,引入柔性杆件设计思路,设计了一种柔性空间扑翼驱动机构。在单驱动条件下,实现了翅翼的扑动-扭转-挥摆耦合运动。建立了机构的运动学和气动力计算模型,求解了机构在运动过程中扑动角、扭转角、挥摆角以及翅翼所受的气动力变化。根据机构特性,在Adams中建立了考虑动力学特性与机构强度的刚柔耦合模型,分析了机构的运动轨迹、运动特性及柔性杆件的应力变化情况。结果表明,该驱动机构具有运动对称性与稳定性,翅翼实现了扑动-扭转-挥摆的耦合仿生运动,同时又满足了柔性机构的强度设计要求。

Dynamic Analysis of Rigid-Flexible Coupling Mechanism of Flexible Space Flapping-Wing Mechanism

The current flapping-wing mechanism can not achieve complex bionic motion with simple structure. To solve this problem, a flexible space flapping-wing mechanism was designed. In the single driving condition, a design method of flexible bar was created from the space four-bar mechanism to realize the flapping-torsion-swing coupling motions of the wing. The kinematic and aerodynamic models of the mechanism were established. The changes of the flapping angle, the twisting angle, the swing angle and the aerodynamic forces of the wings were discussed. According to the characteristics of the mechanism, a rigid-flexible coupling model considering the dynamic characteristics and the strength of the mechanism was established in Adams. Then the trajectory of the mechanism, the motion characteristics and the stress changes of the flexible members were analyzed. The results prove that this mechanism has the symmetry and stability of motions. The wings have the coupling bionic motions of the flapping-torsion-swing. At the same time, it meets the design requirements of the flexible mechanism.