Rigid-flexible coupling active and passive deformation flapping wing mechanism and attack angle adjusting method

Abstract

The invention discloses a rigid-flexible coupling active and passive deformation flapping wing mechanism and an attack angle adjusting method. The rigid-flexible coupling active and passive deformation flapping wing mechanism comprises a rack, a flapping wing driving mechanism, a variable damping flapping wing deformation mechanism, a flapping wing deformation amplitude adjusting mechanism, a sensing control module and the corresponding attack angle adjusting method. The variable damping flapping wing deformation mechanism comprises a threaded shaft speed reducing motor, a wing film, a front edge rod, an adjustable damping rotating shaft, a spring piece and a wing supporting rod; the flapping wing deformation amplitude adjusting mechanism comprises a body I, a body II and a fastening screw; the sensing control module comprises an angle sensor, a wireless communication unit and a control processing unit; according to the active and passive deformation flapping wing mechanism, the problem that the amplitude and speed of passive deformation of the flapping wing mechanism cannot be adjusted is solved, the aerodynamic performance of a flapping wing robot is effectively improved, and automatic adjustment of the attack angle of a flapping wing in flight is achieved; the method is of great significance to improvement of flexibility of the flapping-wing robot and research of aerodynamic characteristics of birds and insects.

Description

technical field [0001] The invention relates to mechanics, bionics, robotics, and a flapping wing robot, in particular to a rigid-flexible coupling active and passive deformation flapping wing mechanism and an angle of attack adjustment method. Background technique [0002] Compared with fixed-wing and rotary-wing robots, flapping-wing robots have the advantages of high efficiency, agility, and concealment. They can perform tasks such as large-scale reconnaissance and detection, security inspections, and post-disaster search and rescue. They have good application prospects in both military and civilian fields. . The flapping wing mechanism is one of the most important parts of the flapping wing robot. So far, many active and passive deformation structures have been designed, which can better improve the aerodynamic performance of the flapping wing robot, but most of them are It cannot be adjusted, which makes the flying attitude of the flapping-wing robot difficult to be ch...

AI Technical Summary

Problems solved by technology

[0005]Aiming at the above problems, it overcomes the problem that the amplitude and speed of the flapping wing mechanism's passive deformation cannot be adjusted, and can realize the automatic adjustment of the flapping wing's attack angle in flight. An active and passive deformation flapping wing mechanism with rigid-flexible coupling that can actively adjust the passive deformation speed and amplitude and the corresponding angle of attack adjustment method

Images