受生物启发的扑翼飞行器弹跳机构概念设计

Aiming at the problems of lack of autonomous take-off and landing functions of flapping-wing aerial vehicles, which seriously affected the applicable scenarios, the design of bio-inspired jumping mechanisms was carried out. Firstly, the typical movement state of birds in the processes of jumping taking-off was analyzed. And according to the laws of movement changes of the hind limb skeleton structure, center of gravity, force and velocity in this process, the dynamic movement process of jumping take-off of the flapping-wing aerial vehicles was designed. Then, based on the skeleton anatomical structure of bird's leg, a closed-chain five-bar geared bird-leg like jumping mechanism was designed. The kinematics equation of the mechanism was derived based on D-H method, and the dynamic equation of the mechanism in the take-off stage was established using Lagrange equation. Finally, the detailed structure design of the jumping mechanism was carried out, and then the simplified jumping model was simulated and analyzed by ADAMS. The simulation results show that, with the help of the designed bionic jumping mechanism, the velocity of mass center of the flapping-wing aerial vehicle system reaches 8.4 m/s, which is higher than the speed 7.9 m/s required by the “dove” aerial vehicle, so the mechanism has the possibility of jumping take-off.