学校代码：10406 分类号：V222 学号：130082501003 南昌航空大学 硕士学位论文 (学位研究生) 仿生微型扑翼飞行器的结构设计与研制 硕士研究生：李卫 导 师：何国毅副教授 申请学位级别：硕士 学科、专业：飞行器设计 所在单位：南昌航空大学 答辩日期：2016年6月 南 授予学位单位：南昌航空大学 万方数据
学校代码：10406 分类号：V222 学号：130082501003 南昌航空大学 硕 士 学 位 论 文 （学位研究生） 仿生微型扑翼飞行器的结构设计与研制 硕 士 研 究 生：李卫 导 师：何国毅 副教授 申请学位级别：硕 士 学 科、专 业：飞行器设计 所 在 单 位：南昌航空大学 答 辩 日 期：2016 年 6 月 授予学位单位：南昌航空大学 万方数据
The design of structure and manufacture of the Bionic Flapping Micro Air Vehicle A Dissertation Submitted for the Degree of Master On Aerospace engineering by Li Wei 大学 Under the Supervision of Prof.He Guo Yi College of Aircraft Engineering Nanchang Hangkong University,Nanchang,China June,2016 万方数据
The design of structure and manufacture of the Bionic Flapping Micro Air Vehicle A Dissertation Submitted for the Degree of Master On Aerospace engineering by Li Wei Under the Supervision of Prof. He Guo Yi College of Aircraft Engineering Nanchang Hangkong University, Nanchang, China June, 2016 万方数据
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
fuselage structure is designed by software AutoCAD,the fuselage is processed by the method of NC machining,then the prototype of FMAV is all assembled.With multiple tests and continuous improvements,the result is satisfactory which shows that the prototype has good maneuverability and stability,this paper hopes to provide some references for the future manufacture of the FMAV. Key words:Flapping Micro Air Vehicle,spatial crank-rocker mechanism,3D modeling, empennage,prototype 南昌航空大学 Ⅲ 万方数据
III fuselage structure is designed by software AutoCAD, the fuselage is processed by the method of NC machining, then the prototype of FMAV is all assembled. With multiple tests and continuous improvements, the result is satisfactory which shows that the prototype has good maneuverability and stability, this paper hopes to provide some references for the future manufacture of the FMAV. Key words: Flapping Micro Air Vehicle, spatial crank-rocker mechanism, 3D modeling, empennage, prototype 万方数据