Abstract
Half-rotating wing (HRW) is a new kind of flapping wing system with rotating-type flapping instead of oscillating-type flapping. For the complex mechanical transmission and high weight which is not suitable for flight of traditional half-rotating mechanism (HRM).The simplified HRM with local constraint was proposed as the driving mechanism of HRW in this paper. The performing process and characteristics of local constraint was further given. According to contact state between moving components, the performing process of local constraint was divided into two stages. To analyze the influence of local constraint on the driving torque exerted in the crank of driving mechanism, the model of driving torque under different stages were respectively established. Based on the model, the change curve of driving torque was obtained through simulation by MATLAB, which showed that local constraint had little influence on driving torque. The results could provide guidance for the choice of motor of HRW and optimization of dynamics.
Highlights
Flapping-wing air vehicle had become research hotspot due to its excellent maneuverability and hovering ability beyond traditional fixed wing and micro rotary wing[1].Researchers superimposed two same sets of crank-rocker mechanisms to create the Micro Bat[2].Madangopal et al designed the Sparrow by combining slider-crank mechanism with double-slider mechanism[3].Wei Zhen et al invented the parallel crank-rocker flapping mechanism[4].these mechanisms would produce huge inertia force due to high frequency oscillation, which limited its operating frequency and the scope of work.During the study of bionic machinery, it could be found that animals, movement was essentially asymmetric
For the complex mechanical transmission and high weight which is not suitable for flight of traditional half-rotating mechanism (HRM).The simplified HRM with local constraint was proposed as the driving mechanism of Half-rotating wing (HRW) in this paper
The change curve of driving torque was obtained through simulation by MATLAB, which showed that local constraint had little influence on driving torque
Summary
Flapping-wing air vehicle had become research hotspot due to its excellent maneuverability and hovering ability beyond traditional fixed wing and micro rotary wing[1].Researchers superimposed two same sets of crank-rocker mechanisms to create the Micro Bat[2].Madangopal et al designed the Sparrow by combining slider-crank mechanism with double-slider mechanism[3].Wei Zhen et al invented the parallel crank-rocker flapping mechanism[4].these mechanisms would produce huge inertia force due to high frequency oscillation, which limited its operating frequency and the scope of work. During the study of bionic machinery, it could be found that animals, movement was essentially asymmetric. A kind of single degree mechanism named HRM was proposed as the driving mechanism for HRW, which could achieve flapping just by asymmetric rotating. To ensure that the movement of HRM is accurate in a given time, a temporary constraint, called local constraint, was added artificially in the process of simplification. Torque on the driving mechanism would be changed when local constraint worked with and without. Mechanical model was established and change of driving torque was determined. Both of these were guidance for the choice of motor of HRW and optimization of dynamics
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