仿生撲翼飛行機器人的機理分析及其實驗研究.pdf

1、揚州大學碩士學位論文仿生撲翼飛行機器人的機理分析及其實驗研究姓名：武立新申請學位級別：碩士專業(yè)：機械制造及其自動化指導教師：周驥平20050401藏立凝傍生羚冀飛哲枧囂人熬橇理分櫥及其實驗研究ABSTRACTBionicFlapping—wingAerialRobot(BEAR)isaaerialvehiclewithnewconcept，whichhasnovellocomotionmethodandinvolvesadvancedt

2、echnologies。BFARbecomesahotspotofresearchrecentlyandhasextensiveapplicationinmilitaryandcivilianOnthebasisofsummarizingallkindsoflatestresearchachievementsonthisfield，theflappingwingflightmechanism、themovementmodelofbion

3、icwingsandtheflapping—wingdrivesystemarestudiedinthispaperFirstlytheresearchbackgroundofBFARisintroduced；thecilaracteristicsandtheapplicationprospectsareanalyzedItisalsoconcludedthatflappingwingfighthashi曲erefficiencyand

4、biggerminiaturedegree，andtheBFARisthetendencyofflightrobot，Thisthesisreviews壤edevelopmentandcurrentresearchsituationofBf紈RalSOdiscusseskeytechnologiesofBFARBasedOntheaerodynamicstheorythefeasibilityofBFARisanalyzednedesi

5、gninspirationofBFARwhichcomesfromtheflightmodeandscalingrule，isprobedintoItisproposedthatflappingwingflightisadoableschemetosolvethedifficultyofflightunderlowRenaud確露flapping—wingfli西tmechanismofanimalisinvestigatedinpar

6、ticularandtheresultsprovideatheoryfoundationfordevelopingBFARAccordingtothecharacteristicsofanimal’Sflappingwingsystem。someimpo蛾antfactorsofthebionicwingdesignarediscussedAnewconceptofthelocomotionofflapping—wingandwashi

7、ng—wingisbroughtforward，andtheircharacteristicsareanalyzedrespectivelyTheapproachtorealizetheflapping—wingmodeisstudiedindetailsOnthebasisoftheflapping—wingmode，theflappingwingconrseisdecompounded，andthequalitativecalcul

8、atefonnulasofaerodynamicsforcearegivenOnthefoundationofanimalflightscalingrule，thedesignparametersoftheprototypeareworkedout。Thedesignofflapping—wingactuators，basedonMEMStechnologyandlinkagemechanism，isanalyzed，themethod

9、sandwaysofrealizingtheactuatorsarealsodiscussed，thedesignofactuatorsbasedonthefourIinkagemechanismisoptimized。Inconformitytothedemandpowerthemotiveequipmentandenergysystemareselected；thegear—downtransmissionsystemandcont