Mechanism Analysis And Experimental Study Of Flapping-wing Flying Robot

Bionic Flapping-wing Aerial Robot(BFAR) is a aerial vehicle with new concept, which has novel locomotion method and involves advanced technologies. BFAR becomes a hotspot of research recently, and has extensive application in military and civilian. On the basis of summarizing all kinds of latest research achievements on this field, the flapping-wing flight mechanism, the movement model of bionic wings and the flapping-wing drive system are studied in this paper.Firstly, the research background of BFAR is introduced; the characteristics and the application prospects are analyzed . It is also concluded that flapping-wing flight has higher efficiency and bigger miniature degree, and the BFAR is the tendency of flight robot. This thesis reviews the development and current research situation of BFAR, also discusses key technologies of BFAR.Based on the aerodynamics theory, the feasibility of BFAR is analyzed. The design inspiration of BFAR, which comes from the flight mode and scaling rule, is probed into. It is proposed that flapping-wing flight is a doable scheme to solve the difficulty of flight under low Renaud. The flapping-wing flight mechanism of animal is investigated in particular, and the results provide a theory foundation for developing BFAR.According to the characteristics of animal's flapping-wing system, some important factors of the bionic wing design are discussed. A new concept of the locomotion of flapping-wing and washing-wing is brought forward, and their characteristics are analyzed respectively. The approach to realize the flapping-wing mode is studied in details. On the basis of the flapping-wing mode, the flapping-wing course is decompounded, and the qualitative calculate formulas of aerodynamics force are given.On the foundation of animal flight scaling rule, the design parameters of the prototype are worked out. The design of flapping-wing actuators, based on MEMS technology and linkage mechanism, is analyzed, the methods and ways of realizing the actuators are also discussed, the design of actuators based on the four-linkage mechanism is optimized. In conformity to the demand power, the motive equipment and energy system are selected; the gear-down transmission system and control system are framed.The lift effect is validated on a simple suspend-flight device. A experimental platform to measure the aerodynamic force is devised and developed by ourselves. On this equipment, the aerodynamics force of the prototype are tested under hovering and flying forward conditions, and the test results are compared to the results of theory calculation. The references are provided for future design and fly-test control ways.All the work of this thesis shows a good achievement. With the development of research work, we think firmly that the research of BFAR will make a breakthrough in the future.