Study On Dynamic Optimization Design Of Small Biomimetic Flapping Wing Flying Robots

With the long-time natural selection and evolution of nature,birds have acquired excellent flying abilities.The flapping wing flying robot inherited these abilities and has various flight modes and can switch them freely,with highly maneuver ability and high aerodynamic efficiency.Small-sized flapping wing flying robot is a multi-disciplinary compound research object.Therefore,it is of great significance to advance the research work of a small bionic flapping wing flying robot.First of all,the research and development of flapping-wing flying robot at home and abroad are briefly reviewed in this paper.From the point of view of mechanical engineering,the key points and difficulties involved in the design of flapping wing flying robot are expounded and analyzed.And the future development direction of the flapping wing flying robot is also discussed.As a complete bionic robot,it is expected to realize both flight and walking,so the bird-leg walking mechanism is studied here.A kind of birds' leg like walking mechanism combined with trajectory generating mechanism and displacement amplification mechanism is proposed and the mechanism dimension synthesis is carried out in this paper.The optimal design method is used to solve a group of design parameter of the mechanism witch matching the given ideal trajectory well.The ADAMS dynamics simulation shows that the mechanism can walk quickly on the flat ground.Then,the structure and the aerodynamic force production of flapping wing are analyzed.According to the data of lift/drag coefficient of airfoil obtained by two-dimensional steady state hydrodynamics simulation,the local steady aerodynamic force is solved by using strip theory,and then integrate it to integral aerodynamic force of flapping wing.The real-time relationship between flapping wing motion and aerodynamic force is established.The preparation for the mechanical dynamic analysis and the stability control of the aircraft was made.Aiming at a kind of flapping mechanism,based on the kinematics and dynamics model of the mechanism,the relationship between joint stiffness and degree of torque fluctuation is analyzed.Furthermore,the relationships among degree of torque fluctuation,average driving power of motor,ratio of effective power to total power are analyzed.It is proved that elastic element can effectively improve the energy efficiency of the mechanism.Finally,according to bird structure and data from bionic statistics,the components of the prototype were made,and the prototype was assembled and tested preliminarily.The effect of 3D printing process in prototype production is evaluated.