上海交通大学：《力学仿生——启示与探索》课程教学资源（论文资料）飞行仿生_仿生微型扑翼飞行器的结构设计与研制.pdf_大学文库

摘要随着现代科研技术以及仿生学的飞速发展，微型扑翼飞行器(Flapping Micro Air Vehicle,简称FMAV)在军用和民用领域所表现出来的巨大发展前景吸引了全世界众多研究者们的目光，FMAV也正逐渐成为了新的研究热点之一。本文从生物飞行的尺度律研究出发，采用空间曲柄摇杆机构和齿轮减速机构作为微型扑翼飞行器的扑翼机构，并在此基础上设计并研制了一架仿生微型扑翼飞行器样机。同时对样机进行了多次调试及试飞试验，试验取得了满意结果。本文主要分以下几个部分：首先，对生物飞行的尺度律展开了一定的研究，根据仿生学公式计算出了仿生微型扑翼飞行器的各项扑翼参数，并根据相关参数制作了仿生翅翼样本。利用 ANSYS有限元软件对仿生翅翼模型进行了有限元静力学分析，结果表明仿生翅翼模型具有良好的结构强度和刚度，满足整体设计要求，同时证实了仿生翅翼样本的可行性。其次，在分析了几种常见扑翼机构的基础上提出了一种具有急回特性的空间曲柄摇杆扑翼机构。根据该机构的运动特性，将其简化为偏置曲柄滑块机构，继而确定了该机构的各杆长的参数。同时针对微型电机转速高但扭矩小的这一问题，本文采用了传动效率高，结构紧凑的齿轮减速机构，并确定了其相关传动比和齿轮的各项基本参数，再利用CATIA软件对整个扑翼机构进行了三维实际建模。最后利用ADAMS软件对扑翼机构进行了运动仿真，仿真结果表明：两侧机翼扑动时具有良好的对称性，能简单模拟鸟类扑动的过程，也进一步证明了本文采用该机构的可取性。最后，对微型扑翼飞行器的设计进行了一定的分析和探讨，分析并确定了微型扑翼飞行器尾翼的样式、形状以及安装位置。利用Autocad软件设计了微型扑翼飞行器的机身结构的二维图，采用数控加工的方法加工出了机身实体并完成微型扑翼飞行器样机的全部组装。通过对样机的多次试飞试验以及不断的改进，结果表明：该样机具有良好的操纵性和稳定性，试验取得了满意的效果，本文希望能为今后的微型扑翼飞行器的研制提供一定的参考。关键字：微型扑翼飞行器，空间曲柄摇杆机构，三维建模，尾翼，样机万方数据

I 摘要随着现代科研技术以及仿生学的飞速发展，微型扑翼飞行器(Flapping Micro Air Vehicle，简称 FMAV)在军用和民用领域所表现出来的巨大发展前景吸引了全世界众多研究者们的目光，FMAV 也正逐渐成为了新的研究热点之一。本文从生物飞行的尺度律研究出发，采用空间曲柄摇杆机构和齿轮减速机构作为微型扑翼飞行器的扑翼机构，并在此基础上设计并研制了一架仿生微型扑翼飞行器样机。同时对样机进行了多次调试及试飞试验，试验取得了满意结果。本文主要分以下几个部分：首先，对生物飞行的尺度律展开了一定的研究，根据仿生学公式计算出了仿生微型扑翼飞行器的各项扑翼参数，并根据相关参数制作了仿生翅翼样本。利用 ANSYS 有限元软件对仿生翅翼模型进行了有限元静力学分析，结果表明仿生翅翼模型具有良好的结构强度和刚度，满足整体设计要求，同时证实了仿生翅翼样本的可行性。其次，在分析了几种常见扑翼机构的基础上提出了一种具有急回特性的空间曲柄摇杆扑翼机构。根据该机构的运动特性，将其简化为偏置曲柄滑块机构，继而确定了该机构的各杆长的参数。同时针对微型电机转速高但扭矩小的这一问题，本文采用了传动效率高，结构紧凑的齿轮减速机构，并确定了其相关传动比和齿轮的各项基本参数，再利用 CATIA 软件对整个扑翼机构进行了三维实际建模。最后利用 ADAMS 软件对扑翼机构进行了运动仿真，仿真结果表明：两侧机翼扑动时具有良好的对称性，能简单模拟鸟类扑动的过程，也进一步证明了本文采用该机构的可取性。最后，对微型扑翼飞行器的设计进行了一定的分析和探讨，分析并确定了微型扑翼飞行器尾翼的样式、形状以及安装位置。利用 Autocad 软件设计了微型扑翼飞行器的机身结构的二维图，采用数控加工的方法加工出了机身实体并完成微型扑翼飞行器样机的全部组装。通过对样机的多次试飞试验以及不断的改进，结果表明：该样机具有良好的操纵性和稳定性，试验取得了满意的效果，本文希望能为今后的微型扑翼飞行器的研制提供一定的参考。关键字：微型扑翼飞行器，空间曲柄摇杆机构，三维建模，尾翼，样机万方数据

Abstract With the rapid development of modern scientific technology and bionics,the great prospects of development shown in military and civilian areas have attracted the attention of many researchers around the world for the Flapping Micro Air Vehicle(FMAV),the FMAV is becoming one of the new research hotspots. This paper is based on the study of the scaling law of biological flight,the spatial crank-rocker mechanism and the gear reduction mechanism is used as the flapping wing mechanism for FMAV.And on this basis,a prototype of the FMAV is developed.At the same time,the prototype has been debugged and tested many times,the result of tests is satisfactory.So,this article is divided into the following sections: First of all,a certain researches are carried out for the scaling law of biological flying.a various parameters of the FMAV are calculated by the bionics formula,then a sample of bionic wings is made by the relevant parameters.The statics analysis are carried out by finite element software ANSYS for the model of bionic wings,the results show that the model of bionic wings has good structural strength and stiffness which meet the requirement of the design,it also confirms that the sample of bionic wings is advisable. Secondly,a spatial crank-rocker flapping wing mechanism which has quick return characteristic is proposed on basis of the analysis of several common flapping mechanism.According to the characteristics of the mechanism,it is simplified as the offset slider crank mechanism,then the parameters of each rod length of the mechanism are determined.There is a problem that the micro motor has high speed but small torque, so the gear reduction mechanism which has high transmission efficiency and compact structure is adopted,the basic parameters of the gear ratio and gear are calculated,the 3D modeling is build by software CATIA for the flapping wing mechanism.Finally,the motion of flapping wing mechanism is simulated by the software ADAMS,the result of simulation shows that it has good symmetry on both sides of the wing,the mechanism can simply simulate the movement of birds,it also further proves that the mechanism is desirable in this paper. Finally,a certain of analysis and discussion are carried out for the design of FMAV, then the style,shape and position of the empennage are identified.The 2D drawing of 万方数据

II Abstract With the rapid development of modern scientific technology and bionics, the great prospects of development shown in military and civilian areas have attracted the attention of many researchers around the world for the Flapping Micro Air Vehicle(FMAV) , the FMAV is becoming one of the new research hotspots. This paper is based on the study of the scaling law of biological flight, the spatial crank-rocker mechanism and the gear reduction mechanism is used as the flapping wing mechanism for FMAV. And on this basis, a prototype of the FMAV is developed. At the same time, the prototype has been debugged and tested many times, the result of tests is satisfactory. So, this article is divided into the following sections: First of all, a certain researches are carried out for the scaling law of biological flying. a various parameters of the FMAV are calculated by the bionics formula, then a sample of bionic wings is made by the relevant parameters. The statics analysis are carried out by finite element software ANSYS for the model of bionic wings, the results show that the model of bionic wings has good structural strength and stiffness which meet the requirement of the design, it also confirms that the sample of bionic wings is advisable. Secondly, a spatial crank-rocker flapping wing mechanism which has quick return characteristic is proposed on basis of the analysis of several common flapping mechanism. According to the characteristics of the mechanism, it is simplified as the offset slider crank mechanism, then the parameters of each rod length of the mechanism are determined. There is a problem that the micro motor has high speed but small torque, so the gear reduction mechanism which has high transmission efficiency and compact structure is adopted, the basic parameters of the gear ratio and gear are calculated,the 3D modeling is build by software CATIA for the flapping wing mechanism . Finally, the motion of flapping wing mechanism is simulated by the software ADAMS, the result of simulation shows that it has good symmetry on both sides of the wing, the mechanism can simply simulate the movement of birds, it also further proves that the mechanism is desirable in this paper. Finally, a certain of analysis and discussion are carried out for the design of FMAV, then the style, shape and position of the empennage are identified.The 2D drawing of 万方数据

南昌航空大学硕士学位论文目录目录摘要........................................................................................................................................................I Abstract................................................................................................................................................. II 目录..........................................................................................................................................................I 第 1 章绪论...........................................................................................................................................1 1.1 引言..........................................................................................................................................1 1.2 扑翼飞行器的研究现状..........................................................................................................2 1.2.1 国外扑翼飞行器的研究现状...................................................................................... 2 1.2.2 国内扑翼飞行器的研究现状...................................................................................... 4 1.3 扑翼生物飞行的机理研究..................................................................................................... 4 1.4 本文的主要研究内容...............................................................................................................6 第 2 章仿生翅翼有限元模型的建立及静力学分析.......................................................................... 7 2.1 扑翼生物飞行的尺度律研究................................................................................................. 7 2.2 仿生翅翼模型的设计..............................................................................................................8 2.3 有限元理论............................................................................................................................11 2.3.1 ANSYS 的量纲以及参数确定................................................................................ 12 2.3.2 仿生翅翼的有限元网格划分.................................................................................... 13 2.4 仿生翅翼的静力学分析....................................................................................................... 14 2.4.1 竖向均布载荷.............................................................................................................15 2.4.2 弯矩作用下.................................................................................................................16 2.4.3 扭矩作用下.................................................................................................................18 2.5 本章小结................................................................................................................................20 第 3 章扑翼机构的设计与研究........................................................................................................ 22 3.1 常见扑翼机构的分析............................................................................................................22 3.2 扑翼飞行对扑翼机构的要求............................................................................................... 24 3.3 曲柄摇杆机构的分析............................................................................................................25 3.3.1 无急回特性曲柄摇杆机构........................................................................................ 25 3.3.2 具有急回特性的空间曲柄摇杆机构的设计............................................................ 26 3.4 齿轮减速机构的设计............................................................................................................29 万方数据

南昌航空大学硕士学位论文目录 3.5 ADAMS 运动仿真.............................................................................................................. 31 3.6 本章小结................................................................................................................................33 第 4 章仿生微型扑翼飞行器样机的研制........................................................................................ 34 4.1 仿生微型扑翼飞行器的设计方案....................................................................................... 34 4.2 仿生微型扑翼飞行器的构成............................................................................................... 35 4.3 尾翼的设计............................................................................................................................37 4.3.1 尾翼样式的选择........................................................................................................ 37 4.3.2 尾翼形状的设计........................................................................................................ 37 4.3.3 尾翼的布置.................................................................................................................39 4.4 机身的设计以及装配............................................................................................................41 4.5 样机试飞实验........................................................................................................................42 4.6 本章小结................................................................................................................................45 第 5 章总结与展望.............................................................................................................................46 5.1 总结........................................................................................................................................46 5.2 展望........................................................................................................................................46 参考文献...............................................................................................................................................48 硕士期间发表的论文及学术成果...................................................................................................... 51 发表论文.......................................................................................................................................51 参加科研项目...............................................................................................................................51 致谢.......................................................................................................................................................52 万方数据

南昌航空大学硕士学位论文第1章绪论第1章绪论 1.1引言自然界中的所有飞行生物无一不是采用扑翼方式飞行的，而鸟类与昆虫是自然界中的飞行能手，它们经过亿万年的生物进化，无论其空气动力还是自身结构方面都达到了最优。自古以来，人类就一直梦想能像鸟类那样翱翔天空。然而由于早期的技术条件和研究水平有限，人们对扑翼飞行器的研究一直没有实质性的进展，所以人们将目光慢慢转移到了固定翼飞机的研究当中。由于固定翼飞机在速度、航程、升限、运载能力等方面都远远优于鸟类与昆虫，因此在很长一段时间里，工程师们都致力于研究“更大更快”的飞行器，导致了人们对扑翼飞行器的研究在一段时期内一直停滞不前。 1992年美国科学家布鲁诺·W·奥根斯坦在美国国防先进研究计划署(Defense Advanced Research Program Agency,DARPA)举办的一个关于未来军事技术的研讨会上提出了研制微型飞行器(Micro Air Vehicle,MAV)的主张。MAV的技术指标一般是指翼展在15cm左右，有效载荷20g,航速30-80km/h,滞空时间为20-60min, 能完成一定的任务等山。微型飞行器的飞行雷诺数和飞行机理都不同于常规飞行器，它是属于低雷诺数的范畴，在飞行时受到空气粘性力的影响较大。微型飞行器的类型按照其飞行方式可分为三类，分别是微型固定翼飞行器、微型旋翼飞行器和微型扑翼飞行器 (Flapping Micro Air Vehicle,简称FMAV)。微型扑翼飞行器(FMAV)是一种模仿鸟类或昆虫飞行的新概念飞行器。研究表明：微型扑翼飞行器相比于微型固定翼飞行器和微型旋翼飞行器，它的可微程度远远大于后者，同时具有更好的灵活性和机动性]，因而更具有优势。随着现代科研技术的快速发展，微型扑翼飞行器渐渐成为了目前新的研究热点之一，也是最有发展前景的一类MAVBI4。万方数据

南昌航空大学硕士学位论文第 1 章绪论 1 第 1 章绪论 1.1 引言自然界中的所有飞行生物无一不是采用扑翼方式飞行的，而鸟类与昆虫是自然界中的飞行能手，它们经过亿万年的生物进化，无论其空气动力还是自身结构方面都达到了最优。自古以来，人类就一直梦想能像鸟类那样翱翔天空。然而由于早期的技术条件和研究水平有限，人们对扑翼飞行器的研究一直没有实质性的进展，所以人们将目光慢慢转移到了固定翼飞机的研究当中。由于固定翼飞机在速度、航程、升限、运载能力等方面都远远优于鸟类与昆虫，因此在很长一段时间里，工程师们都致力于研究“更大更快”的飞行器，导致了人们对扑翼飞行器的研究在一段时期内一直停滞不前。 1992 年美国科学家布鲁诺·W·奥根斯坦在美国国防先进研究计划署(Defense Advanced Research Program Agency，DARPA)举办的一个关于未来军事技术的研讨会上提出了研制微型飞行器(Micro Air Vehicle，MAV）的主张。MAV 的技术指标一般是指翼展在 15cm 左右，有效载荷 20g，航速 30-80km/h，滞空时间为 20-60min，能完成一定的任务等[1]。微型飞行器的飞行雷诺数和飞行机理都不同于常规飞行器，它是属于低雷诺数的范畴，在飞行时受到空气粘性力的影响较大。微型飞行器的类型按照其飞行方式可分为三类，分别是微型固定翼飞行器、微型旋翼飞行器和微型扑翼飞行器 (Flapping Micro Air Vehicle，简称 FMAV)。微型扑翼飞行器(FMAV)是一种模仿鸟类或昆虫飞行的新概念飞行器。研究表明：微型扑翼飞行器相比于微型固定翼飞行器和微型旋翼飞行器，它的可微程度远远大于后者，同时具有更好的灵活性和机动性[2]，因而更具有优势。随着现代科研技术的快速发展，微型扑翼飞行器渐渐成为了目前新的研究热点之一，也是最有发展前景的一类 MAV[3][4]。万方数据