Improvement of flapping mechanism and measurement of aerodynamic force/moment of bionic dragonfly prototype
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摘要:
为进一步提高扑翼微型飞行器的机动性能，对前期提出的可移动铰链曲柄滑块扑动机构进行了改进和小型化。该机构运动学表明：移动铰链后两侧翅膀扑动幅值差值从之前的21.3°增大到51.2°，同时平均扑动幅值降到0°。研制了可快速模块化组装的碳纤维板仿蜻蜓扑翼样机。样机测量和试飞实验表明，通过调节扑动频率可以明显改变样机的升力和推力，有效实现飞行器的快速爬升机动飞行。在较大扑动频率移动铰链可以产生足够的偏航力矩和滚转力矩用于转弯等机动飞行。
Abstract:For further improving the maneuverability of the flapping-wing micro air vehicle, the movable hinge crank slider flapping mechanism proposed earlier was improved and miniaturized. The kinematics of the flapping mechanism indicated that as the hinges moved, the difference of the bilateral flapping amplitudes increased from 21.3° to 51.2° and the bilateral mean flapping amplitudes decreased to 0°. And a modularized and carbon fiber plate bionic dragonfly prototype was designed. The measurement and flight test of the prototype showed that the lift and thrust of the prototype changed obviously by adjusting the flapping frequency, realizing rapid acceleration and climbing maneuvering flight. By moving the hinge, significant yaw moment and roll moment were generated for maneuvering turn at larger flapping frequency.
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图 1 可移动铰链的曲柄滑块扑动机构示意图
Figure 1. Schematic diagram of movable hinged crank slider flapping mechanism
图 3 瞬时扑动角ϕ（θ）与曲柄转角θ的变化关系
Figure 3. Relationship between instantaneous flapping angle ϕ（θ） and crank angle θ
图 4 扑动角幅值ϕ0、平均扑动角
$\overline \phi$ 与τ的关系Figure 4. Relation between τ and flapping amplitudes ϕ0 and mean flapping angle
$\overline \phi$ 表 1 扑动机构几何参数
Table 1. Geometric parameters of flapping mechanism
参数 改进前[27] 改进后 r0/mm 10 4 l0/mm 31.3 16.6 l1/mm 28.3 16.6 l2/mm 13 5.1 
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表 2 扑翼样机设计参数
Table 2. Design parameters of prototype
参数 数值 质量/g 80 弦长/mm 40 翼展/mm 280 展弦比 7 功率/W 8 扑动频率/Hz 10
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