Design of a Flapping Aircraft with Variable Angles of Attack Based on a RC/RRU Parallel Mechanism

Wang Yujin; Hu Rui; Xia Youchang; Xu Luyou; He Miao

doi:10.16578/j.issn.1004.2539.2023.10.020

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Design of a Flapping Aircraft with Variable Angles of Attack Based on a RC/RRU Parallel Mechanism

Development·Application | 更新时间：2023-10-09

- Design of a Flapping Aircraft with Variable Angles of Attack Based on a RC/RRU Parallel Mechanism
- Journal of Mechanical Transmission Vol. 47, Issue 10, Pages: 139-147(2023)
- 作者机构：
  
  重庆理工大学机械工程学院，重庆 400054
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.10.020
  CLC：
- Published：15 October 2023，
  
  Received：31 July 2022，
  
  Revised：17 August 2022，
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王玉金,胡睿,夏友长等.基于RC/RRU并联机构的变迎角扑翼飞行器设计[J].机械传动,2023,47(10):139-147.

Wang Yujin,Hu Rui,Xia Youchang,et al.Design of a Flapping Aircraft with Variable Angles of Attack Based on a RC/RRU Parallel Mechanism[J].Journal of Mechanical Transmission,2023,47(10):139-147.
王玉金,胡睿,夏友长等.基于RC/RRU并联机构的变迎角扑翼飞行器设计[J].机械传动,2023,47(10):139-147. DOI： 10.16578/j.issn.1004.2539.2023.10.020.

Wang Yujin,Hu Rui,Xia Youchang,et al.Design of a Flapping Aircraft with Variable Angles of Attack Based on a RC/RRU Parallel Mechanism[J].Journal of Mechanical Transmission,2023,47(10):139-147. DOI： 10.16578/j.issn.1004.2539.2023.10.020.

摘要

为了模拟自然界中生物的变迎角扑翼飞行，提出了一种基于RC/RRU并联机构的变迎角扑翼飞行器。首先，基于旋量理论分析机构的自由度数目及其性质，建立RC/RRU并联机构模型；其次，基于RC/RRU并联机构，建立扑翼飞行器的整体结构模型，通过运动学分析推导扑动角、迎角与输入角之间的函数关系，得出1个扑动周期内翼翅的运动规律；然后，将扑翼飞行器导入XFlow软件中进行空气动力学仿真，对比不同展弦比翼型的升力及推力性能，为翼型设计提供参考。仿真表明，扑翼飞行器产生的净升力大于飞行器质量，且展弦比大的翼型，升力及推力也越大。最后，通过简易样机测试，证明了所设计的变迎角扑翼飞行器在1个扑动周期内可以产生有效的净升力及推力。

Abstract

In order to simulate the flapping flight with variable angles of attack in nature

a flapping aircraft with variable angles of attack based on a RC/RRU parallel mechanism is proposed. Firstly

the model of the RC/RRU parallel mechanism is established to analyze the number of degrees of freedom and its properties

based on the screw theory. Secondly

the overall structure model of the flapping aircraft is established based on the RC/RRU parallel mechanism

and the functional relationships among the flapping angle

the angle of attack and the input angle are derived through kinematic analysis. Thus

the movement law of the flapping wing in a flapping cycle is obtained. Then

the flapping aircraft is imported into XFlow software for aerodynamic simulation for the purpose of comparing the lift and thrust performance of airfoils with different aspect ratios

so as to provide reference for airfoil design. The simulation results show that the net lift produced by the flapping aircraft is greater than the weight of the aircraft

and the lift and thrust of the airfoil with large aspect ratio are also larger. Finally

the lift and thrust test on a simple prototype is used to verify the proposed concept

and the results show that the flapping aircraft with variable angles of attack can produce effective net lift and thrust in a flapping cycle.

关键词

扑翼飞行器并联机构变迎角运动学XFlow软件

Keywords

Flapping aircraftParallel mechanismVariable angle of attackKinematicsXFlow software

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