【作者】 于冰；

【导师】 颜景平；

【作者基本信息】 东南大学 ， 机械设计及理论， 2006， 硕士

【摘要】 微型仿生扑翼飞行机器人是一种仿生飞行的飞行器,在军事上和民用上均有着广阔的应用前景,它已经成为国内外的几大研究热点之一。本论文结合东南大学211工程振兴行动计划资助项目(项目编号:3008002102),作为微型仿生扑翼飞行机器人关键技术的一部分,主要围绕昆虫飞行产生高升力的机理进行分析研究,进而探索微型仿生扑翼飞行机器人的仿生机理,通过对生物飞行方式和固定翼飞机飞行方式的控制进行研究和分析,对微型仿生扑翼飞行机器人飞行姿态的控制,提出了合理的控制方案。本文对已有的关于昆虫飞行高升力机理的观点,进行详细的介绍,并加以评论,认为“拍-合”机制、“延迟失速”机制、“旋转环流”机制和“尾流捕捉”机制等观点各有各的不足之处,提出用“斜板效应”理论来分析物体在流体中运动的观点。以质量守恒和动量守恒定律为基础,从运动学的角度提出斜板效应理论,通过实验和计算分析的方法,详细介绍了斜板效应的受力分析,通过分析验证了:不同外形物体在空气中运动的阻力系数不同,与目前高速运动的物体多采用流线型外形相符合;公式推理结果表明:对于同一物体飞行迎角的不同,其升阻比也不同,这一点又印证了固定翼飞机飞行存在临界迎角的事实。以斜板效应为依据,分析了鸟与螺旋桨飞机飞行机理的区别与联系,并首次给出了鸟类飞行时,两翅拍动产生的前进力和阻力的计算方法。利用观察实验的方法,给出昆虫翅膀和背部飞行肌肉的显微结构,分析认为:昆虫翅膀具有协调的柔性,上下表面具有不同的粗糙度,翅膀上表面的翅肋具有像飞机机翼上风刀的整流作用,前后柔性不同,使得翅膀前缘在下拍时容易产生前缘涡。于是推理得出昆虫翅膀特殊结构决定其飞行产生较高升力。以昆虫翅膀结构为物质基础,以斜板效应为理论指导,从翅膀的柔性出发,分析了昆虫翅膀在飞行中上挥和下拍时的受力,同时用刚性翅膀模型与之对比分析,得出了这样的结论:在同样的飞行条件、飞行迎角和拍翅频率下,柔性翅膀拥有比刚性翅膀模型高得多的升阻比,同时又提出了昆虫飞行中具有潜在的滑翔效应,通过计算分析得出:昆虫飞行占据了小尺寸效应的优势;由于昆虫翅膀在不同位置具有不同的迎角,在分析昆虫翅膀拍动规律的基础上,提出了等效迎角的概念。通过分析生物飞行方式和固定翼飞机飞行方式的控制特点,提出生物飞行中翅膀的拍动是一种节律运动,总结出物体在空中飞行姿态的改变,都是通过对物体的重心施加扭转力矩或力偶矩来实现的,提出了通过改变重心位置的方更多还原

【Abstract】 The bionic flying micro-robot is not only a complicated intelligent robot with new locomotion method, but also the micro aerial vehicle with new concept. Bionic flying micro-robots would have extensive application in military and civilian. Being a part of“Bionic flying robot and its key technologies”research, flying mechanism and control- system of the bionic wing are studied in this thesis. The main content and contribution of this thesis are summarized as follows.This thesis comments on the late biologic flying theory after introducing them and thinks not of all the theory of“clap and fling”mechanism ,“rotational circulation”mechanism ,“delayed stall”mechanism and“wake capture”mechanism right ,they all have itself shortcoming ,then the“moving board”mechanism is brought in the thesis.Analyzing kinematics of moving board in the basis of conservation of mass and quantity of motion ,the thesis particular recommends analysis under forced moving board and proof that different outline moving object has different coefficient of resistance ,come to a conclusion which makes the different angle moving object having different coefficient of resistance ,it again proves airplane has best flight angle , The flight mechanism that gains lift force under lower Reynolds number by three flying ways including fixed-wing, rotating-wing and flapping-wing is analyzed. The thesis first give the calculating law of drag force and lift force that on birds’flapping wings among flight.The thesis brings forth the structures of insect’s wings and backside muscle , under microscope ,and think that insect’s wing has correspond flexure character , different degree of roughness on different side , producing bow wave on wing foreside easily .so insect’s wing could gain more high lift-drag ratio among flight .The thesis analysis the forces that on insect’s flapping wings , achieving the conclusion that flexure wing has better lifting to hard model of wing .The thesis analyzing character of moving object’s controlling, thinks that bionic wing flapping is rhythm moving , so controller could control it by center of gravity .The aerodynamic forces experiments for rigid and flexible wing are tested on the aerodynamic force measure equipment which is designed and developed by ourselves. The experimental result has confirmed the aerodynamic forces as put in theoretical analysis of micro flapping wing. A large-scale test model of micro flying robot with flapping wings is designed and developed. Its structure and material are clarified, The test flight has been更多还原