Research On Key Technology Of Self-taking Off And Landing Flapping Aerocraft

Flapping flight has a great advantage in mobility,flexibility and concealment compared with the rotorcraft and fixed-wing aerocraft,which has attracted the attention of domestic and foreign scholars.They always focused on parallel flying mode,aerodynamic theory and the stability of the flying state.But there are few public reports about the combination of the self-taking off,landing and flying.The study focused on the integration of flapping wing and researched the key technologies of it's self-taking off,landing ejection mechanism corresponding with control system.The main research and conclusions are as follows.(1)On the basis of observing and analyzing the flight and landing process of birds,it is found that the taking off of birds is based on the kicking of their legs to produce force and take off.Thus,a technical solution in the taking off by jumping mechanism is proposed and determined.(2)Summarized three kinds of flapping mechanism characteristics with previous research,determined the swing-flod wing mechanism for flapping flight mechanism,combining the flapping mechanism and the landing bounce mechanism.A flight mechanism scheme for taking off and landing was desinged based on the Stephenson mechanism.(3)The lift-drag model of flapping wing flight is established,including the chord-wise model,the flexible deformation model and the lift-drag model of blade.The model was calculated based on Blade Element Theory during flapping.Finally,The lift and drug of flapping was calculated based on the typical flight parameters in horizontal flight mode,and it was used in taking off and landing mechanism design.(4)The kinematic equation of eight bar planar model was establish based on Isotropic Coordinates.The mechanism is equivalent into the SLIP model and a spring energy storage model in dynamics.The Sequential quadratic programming was used to optimize the taking off trajectory,foot force and structure size in Adams software,and a stable mechanism in taking off and landing is designed.(5)The self-taking off and landing flapping aerocraft was decomposed into flapping system,chordwise system,Tail steering system and take-off and landing system according to the function module.The control system corresponding with software and hardware was design,the simulation of the taking off process was carried out,which verifies the validity of the design...