Structure Design And Kinematic Research Of Bionic Flapping-wing Flying Robot

The bionic flapping-wing flying robot is a new concept aircraft that imitate the fly mode of flying creatures,and it has good flexibility,high efficiency and stability of flight and has a broad application prospect in the field of civilian and national defense.The structural design of the bionic flapping-wing flying robot,the analysis of kinematic and dynamic characteristics of flapping-wing mechanism,the design of wingtip trajectory and the optimization of structure parameters have important theoretical and practical significance on improving the performance of flapping-wing flying and promoting the application of the flapping-wing flying robot.The application background and technology development status of the flapping-wing flying robot were analyzed and studied in this paper.Because the current multi-DOF flapping-wing mechanism has the problem of complicated structure,many driving motors and large weight,a general design scheme of the bionic flapping-wing flying robot was presented and a 2-DOF flapping-torsion coupling driving mechanism was designed.At the same time,optimization design of key parameters for the mechanism was carried out based on the analysis of the kinematic property of mechanisms,and then the aerodynamic characteristics of flapping-wing flying were analyzed.The main research works are as follows:The feasibility of the overall scheme of the bionic flapping-wing flying robot was researched,and the flapping-wing movement of the robot was determined to be flapping-torsion coupling movement.The matching of flapping and torsion movement was analyzed and discussed.The overall structural of the bionic flapping-wing flying robot was designed and a 3-dimentional model based on the studying of the mechanism of bird flight was established.3D solid model of the bionic flapping-wing flying robot was built by using ADAMS,the kinematic characteristics of flapping-wing mechanism was analyzed,the results show the change law of the angular displacement,angular velocity,angular acceleration of the flapping and torsion movement.The flapping-torsion coupling movement was studied.Optimization design of the wingtip trajectory for the bionic flapping-wing flying robot was carried out.The wingtip trajectory of the flapping-wing flying robot was obtained by adjusting the size of the mechanism.The influence factors of the key parameters on the morphology of the trajectory were studied.By optimizing the structure parameters and comparing with the ideal trajectory,the "8"-shape ideal wingtip trajectory was obtained.On this basis,the urgent returning kinematic property of the flapping movement was designed to obtain the better movement capability.Aerodynamic characteristics of flapping-wing flying robot were analyzed.Through the flapping-wing flying model,the lift and thrust were calculated in one cycle of flapping flight.