受生物启发的扑翼飞行器弹跳机构概念设计

doi:10.3969/j.issn.1004-132X.2022.15.013

摘要/Abstract

摘要： 针对扑翼飞行器自主起降能力缺失、严重影响其适用场景的问题，开展了仿生弹跳机构设计研究。对鸟类跳跃起飞过程中典型的运动状态进行分析，结合其各阶段的后肢骨骼结构、重心、力、速度等运动变化规律，对扑翼飞行器弹跳起飞动态过程进行了设计。基于鸟腿的骨骼解剖学结构，设计了闭链齿轮-五杆仿鸟腿弹跳机构，并基于D-H法推导出弹跳机构运动学方程，利用拉格朗日方程建立了弹跳机构起跳阶段的动力学方程。对弹跳机构进行了详细结构设计，采用ADAMS对简化的弹跳模型进行了仿真分析。仿真结果显示，借助该仿生弹跳机构，扑翼飞行器系统质心速度达到8.4 m/s，大于“信鸽”飞行器起飞所需的速度7.9 m/s，具备弹跳起飞的可能性。

关键词: 扑翼飞行器, 自主起降, 弹跳起飞, 齿轮五杆机构

Abstract: Aiming at the problems of lack of autonomous take-off and landing functions of flapping-wing aerial vehicles， which seriously affected the applicable scenarios， the design of bio-inspired jumping mechanisms was carried out. Firstly， the typical movement state of birds in the processes of jumping taking-off was analyzed. And according to the laws of movement changes of the hind limb skeleton structure， center of gravity， force and velocity in this process， the dynamic movement process of jumping take-off of the flapping-wing aerial vehicles was designed. Then， based on the skeleton anatomical structure of birds leg， a closed-chain five-bar geared bird-leg like jumping mechanism was designed. The kinematics equation of the mechanism was derived based on D-H method， and the dynamic equation of the mechanism in the take-off stage was established using Lagrange equation. Finally， the detailed structure design of the jumping mechanism was carried out， and then the simplified jumping model was simulated and analyzed by ADAMS. The simulation results show that， with the help of the designed bionic jumping mechanism， the velocity of mass center of the flapping-wing aerial vehicle system reaches 8.4 m/s， which is higher than the speed 7.9 m/s required by the “dove” aerial vehicle， so the mechanism has the possibility of jumping take-off.

Key words: flapping-wing aerial vehicle, autonomous take-off and landing, jumping take-off, five-bar geared mechanism

中图分类号:

TH122

马东福, 宋笔锋, 薛栋, 宣建林. 受生物启发的扑翼飞行器弹跳机构概念设计[J]. 中国机械工程, 2022, 33(15): 1869-1875，1889.

MA Dongfu, SONG Bifeng, XUE Dong, XUAN Jianlin. Conceptual Design of Bio-inspired Jumping Mechanisms for Flapping-wing Aerial Vehicles[J]. China Mechanical Engineering, 2022, 33(15): 1869-1875，1889.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2022.15.013

https://www.cmemo.org.cn/CN/Y2022/V33/I15/1869

参考文献

［1］HU H， KUMAR A G， ABATE G， et al. An Experimental Investigation on the Aerodynamic Performances of Flexible Membrane Wings in Flapping Flight［J］. Aerospace Science and Technology， 2010， 14（8）：575-586.
［2］PARANJAPEA A， CHUNG S J， HILTON H H， et al. Dynamics and Performance of Tailless Micro Aerial Vehicle with Flexible Articulated Wings［J］. AIAA Journal， 2012， 50（5）：1177-1188.
［3］FESTO. SmartBird：BirdFlight Deciphered［EB/OL］. ［2021-04-06］.https:∥ www. festo. com/group/en/cms/10238. htm.
［4］YANG W， WANG L， SONG B. Dove：a Biomimetic Flapping-wing Micro Air Vehicle［J］. International Journal of Micro Air Vehicles， 2018， 10（1）：70-84.
［5］马东福，宋笔锋，宣建林，等. 仿鸟扑翼飞行器自主起降技术研究进展［J］. 宇航学报， 2021， 42（3）：265-273.
MA Dongfu， SONG Bifeng， XUAN Jianlin， et al. Recent Progress in Autonomous Take-off and Landing Technology of Bird-like Flapping-wing Aerial Vehicle［J］. Journal of Astronautics， 2021， 42（3）：265-273.
［6］PETERSON K， FEARING R S. Experimental Dynamics of Wing Assisted Running for a Bipedal Ornithopter［C］∥ 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. San Francisco， 2011：5080-5086.
［7］KIM J H， PARK C Y， JUN S M， et al. Flight Test Measurement and Assessment of a Flapping Micro Air Vehicle［J］. International Journal of Aeronautical and Space Sciences， 2012， 13（2）：238-249.
［8］XUE D， SONG B， SONG W， et al. Computational Simulation and Free Flight Validation of Body Vibration of Flapping-wing MAV in Forward Flight［J］. Aerospace Science and Technology， 2019， 95：105491.
［9］薛栋，宋笔锋，杨文青，等. 应用在扑翼飞行器的仿生起落架系统及起落控制方法：CN105416575A［P］. 2016-03-23.
XUE Dong， SONG Bifeng， YANG Wenqing， et al. Bionic Undercarriage System for Flapping Wing Air Vehicle and Takeoff and Landing Control Method：CN105416575A［P］. 2016-03-23.
［10］ZHANG T. Design， Analysis and Validation of a Silver Gull Inspired Hybrid UAV［D］. Sydney：University of Technology Sydney， 2019.
［11］EARLS K D. Kinematics and Mechanics of Ground Take-off in the Starling Sturnis Vulgaris and the Quail Coturnix Coturnix［J］. Journal of Experimental Biology， 2000， 203（4）：725-739.
［12］ZHANG Z Q， ZHAO J， CHEN H L， et al. A Survey of Bioinspired Jumping Robot：Takeoff， Air Posture Adjustment， and Landing Buffer［J］. Applied Bionics and Biomechanics， 2017， 2017：4780160.
［13］莫小娟，葛文杰，赵东来，等. 微小型跳跃机器人研究现状综述［J］. 机械工程学报， 2019， 55（15）：109-123.
MO Xiaojuan， GE Wenjie， ZHAO Donglai， et al. Re-view：Research Status of Miniature Jumping Robot［J］. Journal of Mechanical Engineering， 2019， 55（15）：109-123.
［14］HUDSON O A， FANNI M， AHMED S M， et al. Autonomous Flight Take-off in Flapping Wing Aerial Vehicles［J］. Journal of Intelligent & Robotic Systems， 2020， 98：135-152.
［15］熊康太. 自主起降扑翼机器人关键技术研究［D］. 赣州：江西理工大学， 2018.
XIONG Kangtai. Research on Key Technology of Self-taking Off and Landing Flapping Aero Craft［D］. Ganzhou：Jiangxi University of Science and Technology， 2018.
［16］SIVALINGAM G. Design of Jumping Legs for Flap Wing Vehicles［D］. Manchester：The University of Manchester， 2017.
［17］ZHANG J， DONG C， SONG A. Jumping Aided Takeoff：Conceptual Design of a Bio-inspired Jumping-flapping Multi-modal Locomotion Robot［C］∥2017 IEEE International Conference on Robotics and Biomimetics. Macau， 2017：32-37.
［18］EARLS K D. Kinematics and Mechanics of Ground Take-off in the Starling Sturnis Vulgaris and the Quail Coturnix Coturnix［J］. Journal of Experimental Biology， 2000， 203（4）：725-739.
［19］魏敦文. 基于弹性驱动的跳跃机器人研究［D］. 西安：西北工业大学， 2016.
WEI Dunwen. Research of Jumping Robots Based on Compliant Actuators［D］. Xian：Northwestern Polytechnical University， 2016.
［20］战强. 机器人学：机构、运动学、动力学及运动规划［M］. 北京：清华大学出版社， 2019.
ZHAN Qiang. Robotics：Mechanisms， Kinematics， Dynamics and Motion Planning［M］. Beijing：Tsinghua University Press， 2019.
［21］年鹏. 仿鸟类扑翼飞行器设计与性能提升方法研究［D］. 西安：西北工业大学， 2021.
NIAN Peng. Research on the Bird-like Flapping-wing Micro Air Vehicle Design and Its Performance Improvement Methods［D］. Xian：Northwestern Polytechnical University， 2021.
［22］林晓龙. 一种用于火星探弹跳机器人的研究［D］. 哈尔滨：哈尔滨工业大学， 2018.
LIN Xiaolong. Research on a Bouncing Robot for Mars Exploration［D］. Harbin：Harbin Institute of Technology， 2018.

[1]	田立勇, 李鸣昊, 于宁, 杨秀宇. 煤矿掘进工作面锚网自动绑扎装置研究[J]. 中国机械工程, 2026, 37(1): 243-253.
[2]	王友利, 郭佳程, 王晓慧. 基于约束线的瞬轴求解方法[J]. 中国机械工程, 2026, 37(1): 66-72.
[3]	雷恒毅, 杜雪松, 江子龙, 朱才朝. 新型并联复式活齿传动原理及其啮合特性[J]. 中国机械工程, 2025, 36(11): 2517-2524.
[4]	李云峰, 李金成, 仲志丹. 基于热网络法的风电机组主轴承温度场分析[J]. 中国机械工程, 2025, 36(11): 2624-2632.
[5]	杨洪基, 陈杰, 李卓然, 赵昀皓, 赵京. 一种飞行器口盖连接的柔性楔块机构设计与力特性分析及试验[J]. 中国机械工程, 2025, 36(11): 2670-2677.
[6]	关英俊, 张铭起, 逯焕泉, 杨会生, 孙宝玉. 高刚度空间套筒展开机构级间锁紧技术研究[J]. 中国机械工程, 2025, 36(09): 1980-1988.
[7]	林述温, 陆哲, 危世佳, 陈剑雄, 顾天奇, 谢钰. 挖掘机工作过程动力特性仿真及主构件参数多目标优化设计方法[J]. 中国机械工程, 2025, 36(06): 1371-1379.
[8]	李鹏1, 2, 3, 4, 李梦聪1, 4, 肖立波2, 3, 王一棠1, 4, 宋学官1, 4, 阳领5. 基于多保真度代理模型的混凝土泵车臂架销轴轻量化设计[J]. 中国机械工程, 2025, 36(04): 821-829.
[9]	沈佳兴1, 2, 董建秀2, 范中海2, 于英华2. 防冲吸能液压支架点阵负泊松比吸能结构设计及优化[J]. 中国机械工程, 2025, 36(03): 515-524.
[10]	王书亭1, 谢晴天1, 杨奥迪1, 李小兵2, 熊体凡1, 谢贤达2. 等几何拓扑优化非齐次边界条件施加技术研究[J]. 中国机械工程, 2025, 36(03): 525-535.
[11]	王磊1, 2, 方子辰1, 王振涛1, 孙良1, 2, 俞高红1, 2, 崔荣江3. 不等速行星轮系机构混合多位姿综合方法及应用[J]. 中国机械工程, 2024, 35(12): 2211-2220.
[12]	付君健1, 2, 4, 蒙永根1, 吴海华1, 胡欢3, 李响1, 2, 周祥曼1, 2. 离散组装八面体超材料设计与性能调控[J]. 中国机械工程, 2024, 35(12): 2268-2279.
[13]	李琦, 高宏. 柔性关节弹性组件的设计和试验分析[J]. 中国机械工程, 2024, 35(10): 1815-1823,1844.
[14]	魏华贤1, 2, 赵永杰2, 杨楠2, 王奉涛2, 牛小东2. 椭圆横断截面新型双轴柔性铰链设计及分析[J]. 中国机械工程, 2024, 35(08): 1348-1357.
[15]	宋周洲1, 2, 张涵寓1, 2, 刘钊3, 朱平1, 2. 基于监督降维和自适应Kriging建模的高维不确定性传播方法研究[J]. 中国机械工程, 2024, 35(05): 762-769，810.