一种仿生扑翼飞行器的设计及动力学分析

为了提高仿生扑翼飞行器设计水平，弄清仿生扑翼飞行器的动力学特性、改善其飞行性能，设计了一种折展翼仿鸟扑动飞行样机，并对其动力学特性进行了分析。通过仿生方式设计了基于曲柄连杆的折展扑动机构，建立了扑翼机构的运动学模型，得到了相关运动学参数，并采用拉格朗日方法，推导出扑翼扑动时的动力学模型。基于条带方法对该扑翼的气动力、气动力矩载荷进行估算，分析了折展扑翼非对称扑动时翼翅气动力矩变化规律，结果表明:与一般直扑翼相比，折展翼在上扑阶段受到更小的阻力，因而扑翼扑动过程中能够获得更大的升力。基于ADAMS软件包，对扑动机构关键铰接位置的力学特性进行分析，为优化扑动机构、提高其结构强度提供重要参考。 

Design and dynamic analysis of a flapping wing air vehicle

To improve the design of flapping-wing air vehicles and have a better understanding of their dynamics, a prototype of a bird-like air vehicle with foldable flapping wings was designed, and the dynamics of the prototype was carefully analyzed. First, the flapping mechanism based on crank link was designed, meanwhile the kinematic model of the mechanism was established, and the kinetic equations of the mechanism were deduced via Lagrangian method. Then the estimation model of the aerodynamic forces on the flapping wings was set up using strip theory, and the aerodynamic parameters of both the straight and the foldable flapping wings, under the time symmetric and time asymmetric flapping patterns, were calculated. The results showed that higher lift forces could be obtained when the foldable wings underwent asymmetrical flapping, which was attributed to lower resisted forces during the up-stroke periods of the foldable wings. Finally, with the commercial software package ADAMS, the dynamics forces at the critical linkage positions of the flapping mechanism were simulated, and the results provided a suggestion on strengthening the flapping mechanism.