扑翼飞行器具有弹性阻尼扑动机构的能耗对比分析与研究

以"Sparrow"微小仿生扑翼飞行器（FWMAV）为基础，提出了3种带弹性元件的扑动机构构型。对原构型和3种弹性构型进行的理论研究及仿真试验发现，安装有弹性元件的仿生扑翼机构不仅可以在很大程度上减小电机输入的峰值转矩，而且能凭借减小峰值转矩的最优构型提高能量利用率。同时，原模型在翅翼下扑阶段所产生的冲击力大而上扑阶段所产生的冲击力小，电机因负载不均在快速运转时易受冲击。引入弹性元件后，可有效减小电机所受到的冲击力，降低机体材料的冲击及疲劳损伤，延长其使用寿命；对峰值力的优化还可以降低噪声，减小飞行时被发现的几率，提高其在战场环境中的生存率。这将为扑翼飞行器由理论向工程应用过渡提供基础。

Energy consumption comparative analysis and research of flapping wing vehicle with elastic damping flapping mechanism

Three flexible flapping mechanism configurations are herein proposed for the model of "Sparrow" Flapping Wing Micro Air Vehicle (FWMAV). Analytical research and simulation tests on the original model and the three proposed configurations unveil that an FWMAV with a flexible flapping mechanism can greatly reduce the peak torque of motor input, and then improve energy efficiency. In addition, when running rapidly without the flexible system, the motor of a FWMAV is found easy to get shocked by uneven loads due to a smaller impact force at the stage of down flapping and a bigger one at the stage of up flapping. When an elastic component is introduced into the vehicle, the impact force effected on the motor and the flapping mechanism reduces effectively. The service life of the vehicle can be consequently prolonged. It is also shown that the proposed flexible flapping mechanisms have lower noises, meaning that the survival rate of the vehicles in the battlefield environment will be raised up. This study lays a foundation for applications of the FWMAV model.