共轴四翅扑翼飞行器设计和研制

张锐; 周聪慧; 陈真真; 胡薇; 夏晶晶; 陈钢; 汪超

doi:10.13224/j.cnki.jasp.20250546

共轴四翅扑翼飞行器设计和研制

doi: 10.13224/j.cnki.jasp.20250546

1.
淮阴工学院交通工程学院，江苏淮安 223003
2.
淮阴工学院继续教育学院，江苏淮安 223003
3.
东莞理工学院机械工程学院，广东东莞 523808

基金项目: 国家自然科学基金（52005104）；江苏省高校自然科学研究项目（22KJD410001）；广东省基础与应用研究研究基金（2024A1515140103）

详细信息

作者简介:
张锐（1987-），男，副教授，博士，主要从事扑翼飞行器研究。E-mail：zhangr_hyit@qq.com

中图分类号: V211.1
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- 文章访问数: 191
- HTML浏览量: 109
- PDF量: 14
- 被引次数: 0
出版历程
- 收稿日期: 2025-11-28
- 网络出版日期: 2026-04-15

Design and development of coaxial four-wing flapping wing aircraft

1.
School of Traffic Engineering，Huaiyin Institute of Technology，Huaian Jiangsu 223003，China
2.
School of Continuing Educatio，Huaiyin Institute of Technology，Huaian Jiangsu 223003，China
3.
School of Mechanical Engineering，Dongguan University of Technology，Dongguan Guangdong 523808，China

摘要

摘要:
隐蔽抵近目标完成侦察、窃听等任务对扑翼飞行器微型化和可控飞行提出了更高要求。针对单曲柄双摇杆扑动机构存在的问题，设计了一种单轴式双曲柄双摇杆共轴四翅扑动机构，采用理论分析方法，研究了一个扑动周期内左右两对翅膀扑动角的对称性。结果表明：该共轴四翅扑动机构使得左右扑动杆存在一定的瞬时对称性差异（最大差异值约2.7°），左侧和右侧整体扑动角幅值均为36.6°，左侧和右侧整体平均扑动角均为15°，扑动机构具有很好的整体对称性和横向稳定性。研制了可模块化组装的共轴四翅扑翼样机，进行了飞行测试。样机可完成手抛或“悬停”起飞、前飞、爬升、转弯、盘旋等。研究结果对开发更加隐蔽和微型化的扑翼飞行器提供了重要的设计参考。
- 共轴 /
- 四翅扑翼 /
- 扑动机构 /
- 曲柄连杆 /
- 模块化组装
Abstract:
Special tasks such as reconnaissance and eavesdropping poses higher requirements for the miniaturization and controllable flight of flapping wing aircraft. A single axis double-crank double-rocker coaxial four-wing flapping mechanism is designed based on a single-crank double-rocker flapping mechanism. According to the kinematics of the mechanism, the symmetry of the flapping angles of the left and right wings during one flapping cycle is analyzed. This flapping mechanism causes a certain instantaneous symmetry difference between the left and right flapping rods. However, the difference is very small, with a maximum value of about 2.7 degrees. The overall flapping angle amplitudes of the left and right sides are 36.6 degrees, and the average flapping angles of the left and right sides are 15 degrees. This flapping mechanism has good overall symmetry and lateral stability. A modular assembly coaxial four-wing flapping wing prototype is developed and flight tests are conducted. The prototype can perform maneuvers such as hand throwing or “hovering” taking-off, forward flight, climbing, turning, and circle flight. Research results provide important design reference for developing flapping wing aircraft with multiple pairs of wings to achieve more concealment and miniaturization.
- coaxial /
- four-wing flapping wing /
- flapping mechanism /
- crank rocker /
- modular assemble

HTML

图 1 共轴四翅扑动机构

Figure 1. Coaxial four-wing flapping mechanism

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图 2 共轴四翅扑动机构运动分析

Figure 2. Motion analysis diagram of coaxial four-wing flapping mechanism

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图 3 φ_1l、φ_2l、φ_1r、φ_2r与α的关系

Figure 3. Relationships between φ_1l, φ_2l, φ_1r, φ_2r and α

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图 4 φ_2l-φ_1l、φ_2r-φ_1r与α的关系

Figure 4. Relationships between φ_2l-φ_1l, φ_2r-φ_1r and α

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图 5 曲轴设计

Figure 5. Bending crank

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图 6 样机尾翼

Figure 6. Tail of prototype

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图 7 组装样机

Figure 7. Prototype assembly

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图 8 控制系统各部件

Figure 8. Components of control system

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图 9 手抛起飞和前飞

Figure 9. Hand throwing takeoff and forward flight

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图 10 原地“悬停”起飞

Figure 10. “Hover” take off

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图 11 转弯飞行

Figure 11. Turn left and right

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图 12 顺时针盘旋

Figure 12. Clockwise circle flight

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图 13 逆时针盘旋

Figure 13. Counterclockwise circle flight

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图 14 爬升

Figure 14. Climb

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表 1 四翅的φ_ol, φ_ml, φ_max和φ_min

Table 1. φ_ol, φ_ml, φ_max and φ_min of the four wings

摇杆	扑动角/（°）	φ_max/（°）	φ_min/（°）	φ_o/（°）	φ_m/（°）
DE_l	φ_1l	14.1	−22.5	18.3	−4.2
DE_r	φ_1r	14.1	−22.5	18.3	−4.2
DF_l	φ_2l	52.5	15.9	18.3	34.2
DF_r	φ_2r	52.5	15.9	18.3	34.2

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表 2 样机设计参数

Table 2. Design parameters of prototype

m/g	c/mm	b/mm	λ	f/Hz	P_min/W
20	28	200	7	14	6.5

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