仿生扑翼机构的运动精度影响因素研究

张博利; 刘光泽; 刘新杰; 张威

doi:10.13433/j.cnki.1003-8728.20200043

仿生扑翼机构的运动精度影响因素研究

doi: 10.13433/j.cnki.1003-8728.20200043

张博利^1,,
刘光泽²,
刘新杰²,
张威^{2, 3, ,}

1.
中国民航大学基础实验中心，天津　300300
2.
中国民航大学航空工程学院，天津　300300
3.
中国民航地面特种设备研究基地，天津　300300

基金项目: 国家自然基金委中国民航局联合基金项目（U2033208）与国家自然科学基金青年项目（12002367）

详细信息

作者简介:
张博利（1980−），实验师，工程硕士，研究方向为机械电工程，blzhang@cauc.edu.cn

通讯作者:
张威，教授，硕士生导师，weizhang@cauc.edu.cn

中图分类号: TG156
计量
- 文章访问数: 202
- HTML全文浏览量: 84
- PDF下载量: 33
- 被引次数: 0
出版历程
- 收稿日期: 2019-09-27
- 刊出日期: 2021-02-02

Influence Factors Research on Motion Accuracy of Bionic Flapping Wing Mechanism

ZHANG Boli^1
,,
LIU Guangze²,
LIU Xinjie²,
ZHANG Wei^{2, 3
, ,}

1.
Basic Experiment Center, Civil Aviation University of China, Tianjin 300300, China
2.
College of Aeronautical Engineering, Civil Aviation University of China, Tianjin 300300, China
3.
CAAC Aviation Special Ground Equipment Research Base, Tianjin 300300, China

摘要

摘要: 本文对“Sparrow” MAV（Micro air vehicle）模型进行了分析。该模型的曲柄滑块传动机构，可紧凑地实现转动和移动之间运动形式的转换，因而在扑翼飞行器的应用中占有重要地位。机构各构件的尺寸误差和变形直接影响着扑翼机构的运动精度，进而影响机构的驱动转矩。针对机构中各构件的尺寸误差和变形对运动精度的影响，进行了理论分析、仿真比较且完成了实验验证。研究发现，曲柄的尺寸误差是影响扑翼机构运动精度的最重要参数。曲柄尺寸误差对驱动转矩影响最大达到79.66%。连杆不仅是影响扑翼机构运动精度的最重要变形件，也对翅翼扑动角的影响最大（达到6.88%），会影响翅翼的气动效率。
- 扑翼飞行器 /
- 误差 /
- 运动精度 /
- 转矩 /
- 变形
Abstract: In this paper, the “Sparrow” MAV (Micro air vehicle) model is analyzed. “Sparrow” is mounted on a typical transmission mechanism, crank slider mechanism, which can be used to realize motion transformation from rotation to translation. So the mechanism plays an important role in applications of flapping wing micro air vehicle. The motion accuracy and driving torque of the crank slider mechanism are directly affected by mechanism components′ dimension error and deformation. Hereby, motion accuracy and driving torque are investigated in turn theoretically, numerically and experimentally. It is found that dimension error of crank affects the motion accuracy mostly, which influences the driving torque up to 79.66%. Deformation of connecting rod not only affects motion accuracy as the largest deformation component, but also influences flapping angle up to 6.88%.
- flapping wing micro air vehicle /
- error /
- motion accuracy /
- torque /
- deformation

HTML全文

图 1 “Sparrow”模型扑翼机构

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图 2 机构尺度影响系数变化曲线

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图 3 曲柄等长度误差比较曲线

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图 4 连杆等长度误差比较曲线

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图 5 偏心距等长度误差比较曲线

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图 6 曲柄等百分比误差比较曲线

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图 7 连杆等百分比误差比较曲线

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图 8 曲柄滑块传动实验平台

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图 9 曲柄尺寸误差转矩变化比较曲线

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图 10 连杆尺寸误差转矩比较曲线

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图 11 滑块位移变化曲线

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图 12 翅翼扑动角变化曲线

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图 13 翅翼气动升力变化曲线

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表 1 曲柄等长度误差转矩变化比较

曲柄长度R/mm	转矩 / (N·mm)	转矩变化/ (N·mm)	变化百分比/ %
11.0	177.365 5	78.643 8	79.66
10.5	128.682 6	29.960 9	30.35
10.0	98.721 7	−	−
9.5	89.614 8	9.106 9	9.22
9.0	83.653 9	15.067 8	15.26

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表 2 连杆等长度误差转矩变化比较

连杆长度 L/mm	转矩/ (N·mm)	转矩变化/ (N·mm)	变化百分比/ %
41.0	97.628 0	1.0937	1.10
40.5	98.168 2	0.5535	0.56
40.0	98.721 7	−	−
39.5	99.289 1	0.5674	0.57
39.0	99.870 9	1.1492	1.16

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表 3 偏心距等长度误差转矩变化比较

偏心距长度E/mm	转矩/ (N·mm)	转矩变化/ (N·mm)	变化百分比/ %
−1.0	99.9669	1.2452	1.26
−0.5	98.9205	0.1988	0.20
0	98.7217	−	−
0.5	99.3484	0.6267	0.63
1.0	100.8319	2.102 0	2.14

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表 4 曲柄等百分比误差转矩变化比较

曲柄长度 R/mm	转矩/ (N·mm)	转矩变化/ (N·mm)	变化百分比/ %
12	932.1295	833.4078	844.20
11	177.3655	78.6438	79.66
10	98.7217	−	−
9	83.6539	15.0678	15.26
8	72.0075	26.7142	27.06

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表 5 连杆等百分比误差转矩变化比较

连杆长度 L/mm	转矩/ (N·mm)	转矩变化/ (N·mm)	变化百分比/ %
48	94.1159	4.6058	4.67
44	96.8687	1.8530	1.88
40	98.7217	−	−
36	103.7000	4.9783	5.04
32	106.6302	7.9085	8.01

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表 6 曲柄尺寸误差转矩变化比较

曲柄长度 R/mm	转矩/ (N·m)	转矩变化/ (N·m)	变化百分比/ %
47.5	1.98	−	－
52.5	2.05	0.07	3.54
57.5	2.10	0.05	2.44

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表 7 连杆尺寸误差转矩变化比较

连杆长度 L/mm	转矩/ (N·m)	转矩变化/ (N·m)	变化百分比/ %
170	2.10	−	−
185	2.27	0.17	8.09
200	2.36	0.09	3.96

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