Design And Performance Research Of Four Half-Rotating Wing Flying Mechanism

The Flapping-Wing Micro Air Vehicle(FWAV)became a research hotspot for scholars in recent years,because of its compact structure,strong mobility,high energy efficiency and so on.As a driving mechanism of FMAV,the Half-Rotating Mechanism(HRM)has good motion performance in motion and aerodynamic,but the traditional form of HRM is more complex in structure,more many in number of components,and more large in mass of moving parts,which can be not able to fully take advantage of the HRM.A new HRM called Double Drive Simplified Half-Rotating Mechanism(DDSHRM)was invented to avoid above problem.It has significant theoretical and practical value for simplifying the structure and improving the performance of similar-flapping wing ornithopter to design and study of Four Half-rotating Wing Flying Mechanism(FHWFM).The design requirements for the FHWFM was proposed,according to its realization function,the mechanism is divided into four parts,the wing working mechanism,the main transmission and synchronization mechanism,the posture adjustment mechanism and the control system.The wing working mechanism consists of DDSHRM.The composition and working principle of four parts are analyzed to determined the overall scheme of the FHWFM.The parameters and structure of the wing working mechanism,the main transmission and synchronization mechanism and the posture adjustment mechanism are determined by designing the interference-free structure of the DDSHRM,the pneumatic layout of the whole machine,the speed ratio of the main transmission and synchronization mechanism,the circuit of the control system,and calculating the rudder installation size and chute length.The threedimensional model of the FHWFM is established based on UG.The calculation formula of lifting force and resistance moment of the whole machine was derived by establishing the theoretical calculation model of the Half-rotating Wing(HRW)subjected to airflow,and the factors affecting lift were discussed.The lift and propulsion force of the FHWFM during hovering and forward flight are calculated under different rotational speed based on established the aerodynamic calculation model of each attitude of the FHWFM,to lay a theoretical foundation for the FHWFM design.The lift and propulsion force of the mechanism are simulated under different rotational speed by modeling the simulation model of the FHWFM hovering and forward flight attitude in Xflow.The comparison of the simulation results and the theoretical results verified reliability of the theoretical calculation model.The influence of crank phase difference on the dynamic balance characteristics of the FHWFM is studied by established the theoretical calculation model of dynamic balance for the FHWFM to obtain the best layout of the FHWFM.The virtual prototype of the FHWFM is built in ADAMS for the dynamic simulation of the flight mechanism.The characteristics of the dynamic balance and the load torque of the FHWFM are obtained,which provide a accurate method for improving the dynamic performance of the FHWFM and determining the motor power.