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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 view of the current dual crank double rocker structure used in flapping-wing aircraft design is less, the research and analysis of the flapping-wing drive mechanism based on the minimum optimal transmission angle design method. Based on the traditional four-bar mechanism diagram, the relationship model between the minimum transmission angle and the flapping-wing frame length is established. According to the bionic conditions of bird flapping flight, the rack mounting angle, flapping flutter amplitude and crank driving angle equation are derived. Using MATLAB to solve, to determine the optimal design of the drive mechanism. The virtual prototype of the flapping-wing drive mechanism is established and the virtual motion simulation is carried out on the ADAMS platform. The results show that the optimal design model of the drive mechanism is consistent with the theoretical parameter model of flapping wing flutter, and the optimal design method is feasible and practical.