论文部分内容阅读
为了能够使昆虫悬停状态下翅膀的拍动过程用运动学方程进行表达,将扑翼飞行的翅膀简化为平面矩形刚体,翅膀的运动分解为“平动”和“转动”两种运动状态分别对其运动学建模,再利用运动的合成得到超前、对称、滞后三种不同悬停飞行模式下昆虫翅膀的运动方程。根据运动学方程,通过MATLAB仿真出昆虫翅膀悬停飞行时的拍动转角、翼尖速度和翼尖空间运动轨迹,从翼尖空间轨迹曲线可以看出,昆虫翅膀的运动轨迹是呈弯曲拉长的“8”字型,与自然昆虫观察研究结果一致。
In order to make the flapping process of the insect’s hovering state be expressed by the kinematics equation, the wings of the flapping-wing flight are reduced to the planar rectangular rigid body, and the movement of the wings is decomposed into “translation” and “rotation” two Kinematic state of their kinematics modeling, re-use of the synthesis of the movement ahead, symmetry, hysteresis three different hover flight mode insect wing motion equation. According to the kinematics equation, the flapping angle, the tip speed and the trajectory of wingtip space when the insect hovering fly are simulated by MATLAB. From the curve of the wingtip space trajectory, it can be seen that the movement path of the insect’s wing is bent lengthening “8 ” font, consistent with the results of natural insect observations.