Study On Motion Error And Mechanical Parameters Of Driving Mechanism For Half-Rotating Wing Based On Local Constraints

The flying mode of birds and insects was called flapping flight in nature. With the rapid development of modern society, the advantages of flapping flight were well known and kinds of Flapping-wing Aerial Vehicle(FAV) were designed. However, most of the driving mechanisms of FAV were imitating the oscillating-type movement of animals' wing, the driving mechanism would be only flap in low frequency, which obviously limited the further improvement of lift. Based on this situation, a new biomimetic mechanism with rotating-type flapping instead of oscillating-type flapping called Half-rotating Mechanism(HRM) was further developed, which could produce a similar movement effect of animals' wing. The effect made the similar FAV driven by HRM like a bird flying in the air. Therefore, it has important theoretical significance and engineering value to study on the HRM which used for similar FAV.Firstly, for the complex transmission and high weight traditional, HRM is not suitable for flight. The simplified HRM with local constraint is proposed as the driving mechanism of HRW in this paper. According to the characteristic of local constraint, the performing process of local constraint was divided into four stages. It would provide corresponding theoretical basis for studying on kinematics and mechanical parameters for driving mechanism of half-rotating wing based on local constraints.Secondly, according to the four stages of local constraint, the error models of half-rotating rod angle under different stages were respectively established, then the kinematics simulation was made to verify the availability. On the other hand, under the influence of aerodynamic being considered, the models of mechanical parameters under different stages were also established, then the change rules of mechanical parameters were obtained. The research provided an important basis for the selection of driving motor and strength analysis for driving mechanism of HRW.Thirdly, in order to verify the accuracy of calculation models for mechanical parameters during the different stages of local constraint, the dynamic simulation is conducted by ADAMS software. It provided a solid foundation for the future multi-objective optimization and physical prototype development.Finally, on the basis of error and mechanical parameters models, the structure parameters of some key components for local constraint were optimized by taking the error and driving torque peak as the objective function. The results indicated that optimization not only improved running stability of driving mechanism, but also reduced the power and size of motor for HRW.