Conceptual Design of Bio-inspired Jumping Mechanisms for Flapping-wing Aerial Vehicles

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

Abstract

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

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

CLC Number:

TH122

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.

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.

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