扑翼微型飞行器带关节间隙传动机构运动学建模与分析

IF 1.5 4区工程技术 Q2 ENGINEERING, AEROSPACE

International Journal of Micro Air Vehicles Pub Date : 2023-01-01 DOI:10.1177/17568293231179945

Xin Fang, Jianghao Wu, Feng Du

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引用次数: 0

摘要

建立了一个理论模型，揭示了关节间隙对扑翼微型飞行器(FWMAV)传动机构运动性能的影响。采用无质量连杆法对关节间隙进行建模，并引入倒螺杆求解运动学模型。通过有限元仿真对模型进行了验证。运动学模型表明，传动机构的惯性力对扑翼运动的影响较小，气动阻力和机翼惯性力的合力矩的符号对扑翼运动起决定性作用。此外，在扑动期间，关节间隙会增大或减小机翼的扑动角，对扑动幅度的影响较大，而对平均扑动角的影响较小。分析了带间隙关节的位置和间隙大小对扑动的影响。

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Kinematic modeling and analysis of transmission mechanism with joint clearance for flapping wing micro aerial vehicle

A theoretical model is built to reveal the effect of the joint clearance on the kinematic performance of the transmission mechanism of a flapping wing micro aerial vehicle (FWMAV). Massless link approach is used to model the joint clearance and the reciprocal screw is introduced to solve the kinematic model. Finite element method simulations are also performed to validate the model. The kinematic model reveals that the inertia force of the transmission mechanism contributes little to the flapping motion whereas the sign of the resultant moment of aerodynamic drag and wing inertia force plays decisive role. Besides, the joint clearance can either increase or decrease the flapping angle of the wing during a flapping period and it will significantly affect the flapping amplitude while involves little in the mean flapping angle. The effects of the positions of the joint with clearance and its magnitude on the flapping motion are also revealed.

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来源期刊

International Journal of Micro Air Vehicles ENGINEERING, AEROSPACE-

CiteScore

3.00

自引率

7.10%

发文量

审稿时长

>12 weeks

期刊介绍： The role of the International Journal of Micro Air Vehicles is to provide the scientific and engineering community with a peer-reviewed open access journal dedicated to publishing high-quality technical articles summarizing both fundamental and applied research in the area of micro air vehicles.