多自由度扑翼驱动机构设计与动力学性能分析

In order to realize the movement of the micro flapping-wing aircrafts’ wings along the complex trajectory， a flap-sweep multi-degree-of-freedom flapping-wing driving mechanism was designed. In view of the problem that the inertial force and elastic deformation of the mechanism’s transmission components affect the actuators’ driving force during the high-frequency motion， a rigid-flexible coupling dynamic model of the mechanism was established. At the same time， a dynamic performance factor that can quantify the difference between the driving force required by the actuators and its ideal value was proposed. Finally，combined with the orthogonal experiment，the influence of each thin-plate-component’s thickness on the dynamic performance of the mechanism was studied. The research results showed that the thin-plate-component subjecting to the out-of-plane load had a great influence on the dynamic performance of the driving mechanism， and the longer transmission chain’s force-transmission-path and the closer position to the actuators indicated the more significant impact; the flapping motion performance of the driving mechanism was stronger than the sweeping motion performance; In addition，the dynamic performance of the driving mechanism was not positively related to the thin-plate-component’s thickness.