Design And Application Of Multi-degree Of Freedom Insects Flying Bionic Drive Mechanism

Since the ancient times,man has been full of imagination about flight,and put into practice.As is known to all,the flapping wing flight is a popular method of locomotion used by flying animals in nature.Compared to fixed wing flight and rotary wing flight,the flapping wing flight mode can get the required lift and forward thrust when flying only by flapping wing.It has the characteristic of high efficiency,compact structure and easy to maneuver flight and so on.The aerodynamic principle of flapping wing flight is different from the aerodynamic principle of fixed wing and rotary wing flight,the steady-state aerodynamic is no longer applicable because the flow field near the flapping wing is a low Reynolds number and unsteady vicious.The study of the flapping wing flight contributes to an understanding of the relationship between the flapping wing flight movement and its aerodynamic force,it also have a significant and far-reaching significance in developing flapping wing micro air vehicle and improving its performance.The research content of this article is to design a kind of multi-degree of freedom insects flying bionic drive mechanism and explore the interrelation between the flapping wing flight and its aerodynamic force.The main research content of this subject including:1.Have introduced the structure of the insect wings,which is composed of wing membrane and vein and elaborated the flapping wing movement of insect,including the flight status of hovering,forward flight and maneuvering.Have summarized the high lift mechanism which insect produce when they flying and compared the similarities and differences between the insects and birds flight.Have put forward two kinds of common insect flapping wing flight motion model,the numerical solving process of control equation and flapping wing aerodynamic performance parameter are given,which will provide theoretical and biological basis in researching the bionic insect flapping wing micro air vehicle.2.Have analyzed some commonly used flapping wing drive mechanism and designed a multi-degree of freedom insects flying bionic drive mechanism according to the experimental purpose.This drive mechanism is compact structure,small in size and light-weight,suing ?differential parallel crank-rocker mechanism(bilateral symmetry)‘ to drive the wings.Each wing has completely independent two degree of freedom,which is implemented by two servos.3.Have designed a circuit system.This circuit system used STM32F103T8U6 microcontroller to produce PWM waves to drive the servos moves and sampling the steering gear position feedback data,and using SPI F-RAM to storage the original movement data and feedback data of servos.Using Bluetooth to complete the wireless data transmission and reduce the disturbance when using wires equipment.Using LED to display if the voltage of power is lower than a critical value we set.4.Have developed a program to control servo.This program can achieve the aim to start-and-stop the servos through sending commander by Bluetooth and read the original motion data which stored in SPI F-RAM and send it to servos to drive it according the PWM waves,able to sample the real-time acquisition of the servo‘s position feedback data and stored it in SPI F-RAM.This system can monitor the voltage of power through LED in order to guarantee it can give an alarm if the voltage is lower than a critical value.5.Have completed the mechanical parts processing and assembly,testing of the circuit and adjustment of the control program.Have successfully set up the testing bed of flapping wing drive mechanism and experiments were carried out.Have showed that the multi-degree of freedom insects bionic flying drive mechanism is feasible and the circuit and program is reliable in the end.By analyzing the experimental data,we can learn that in the case of constant movement and other conditions;only by changing the wings can we get different lift force in the entire unit.Therefore,this flapping wing flight drive mechanism can be used to study the flight aerodynamic performance in different experimental condition.