The invention relates to the technical field of flapping wing aircrafts, and discloses a two-degree-of-freedom flapping wing driving mechanism size design method, which comprises the following steps: constructing a flapping wing driving mechanism, carrying out kinematic modeling on the flapping wing driving mechanism, and abstracting a mathematical model; a mathematical model of the space crank-link mechanism is constructed, and the lengths of the crank, the connecting rod and the rocker which form the space crank-link mechanism are solved; constructing a mathematical model of the plane crank connecting rod mechanism, and solving the eccentric distances of the torsion connecting rod, the torsion rocker and the belt wheel which form the plane crank connecting rod mechanism; simulation and calculation are carried out, and the most appropriate length of each rod piece is selected. The length of each rod piece is reversely deduced through an upper limit angle, a lower limit angle and a pole position included angle which need to be designed in the flapping wing driving mechanism, and a space crank rocker mechanism is simplified into a crank sliding block mechanism, so that calculation is simpler, and a calculation result can completely meet design requirements.
本发明涉及扑翼飞行器技术领域,公开了一种二自由度的扑翼驱动机构的尺寸设计方法,其包括以下步骤:构建扑翼驱动机构,并对所述扑翼驱动机构进行运动学建模,抽象出数学模型;构建空间曲柄连杆机构的数学模型,求出组成空间曲柄连杆机构的所述曲柄、所述连杆以及所述摇杆的长度;构建平面曲柄连杆机构的数学模型,求出组成平面曲柄连杆机构的所述扭转连杆、所述扭转摇杆以及所述带轮的偏心距;进行仿真与计算,选择出最合适的各个杆件的长度。通过扑翼驱动机构中需要设计的上极限角、下极限角以及极位夹角来反推各个杆件的长度,并且将空间曲柄摇杆机构简化为曲柄滑块机构,使得计算更加简单,计算结果能完全满足设计需求。
Dimension design method of two-degree-of-freedom flapping wing driving mechanism
一种二自由度的扑翼驱动机构的尺寸设计方法
2023-05-16
Patent
Electronic Resource
Chinese
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