基于空间RURS机构的三维仿生扑翼机构设计与分析

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。 

Design and analysis of three-dimensional bio-inspired flapping wing mechanism based on spatial RURS linkage

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 5.8cm, 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 micro-air-vehicles.