單自由度拍撲翼機構之創新設計

Creative Design of Flapping-Wing Mechanisms with Single Degree of Freedom

劉峰齊(Feng-Chi Liu)

指導教授 ： 徐孟輝

崑山科技大學/工程學院/機械工程研究所/碩士(2004年)

摘要

人們應用微飛行器在於軍事活動的偵查或者危險區域的探勘。微飛行器的重要部分是模仿飛行生物之翅膀運動的拍撲翼機構。本研究目的是有系統地設計能夠模仿長耳蝙蝠和昆蟲翅膀拍打之新型單自由度拍撲翼機構。首先我們分析現有拍撲翼機構的拓撲構造和運動特性。然後訂定拓撲構造和運動特性的設計限制。基於拓撲構造的設計限制，再利用顏氏機構設計方法合成出新型的拍撲翼機構，進而推導所合成之新型機構的運動方程式。此外，選擇新型拍撲翼機構和長耳蝙蝠之間翅膀運動之角位置的最小誤差，以作為設計新型機構尺寸的目標函數。同時利用所求的新型機構尺寸作為新型機構運動分析的基礎。最後，將尺寸設計及運動分析的結果來製作一個五桿七接頭之昆蟲拍撲翼機構的模型並予以測試。本研究所提的方法能夠獲得94個新型拍撲翼機構和一個飛行昆蟲機構的模型。

關鍵字

尺寸設計 ； 拍撲翼機構 ； 類型合成 ； 微飛行器 ； 運動分析

並列摘要

People used the Micro Air Vehicles to patrol the military activity or explore the danger region. The important parts of Micro Air Vehicles are the flapping mechanisms those can simulate the wing-motion of flying being. Hence this work is to present a systematic approach for designing new flapping mechanisms with one degree of freedom that can simulate the wing-motion of long ear bats and insects. First, we analyze the topological structure and motion characteristics of existed flapping mechanisms. Then, the design criteria of the topological structure and motion characteristics are described. Based on the design criteria of topology, the Yan’s methodology of mechanism design is applied to synthesize new flapping mechanisms. And, the kinematic equations of those new mechanisms are derived. Furthermore, the minimum error between the wing-displacements of new mechanisms and long ear bats is selected as the objective function for designing the dimensions of those new mechanisms. And, the kinematic analysis of these new mechanisms is done well. Finally, a prototype of a (5,7) flapping mechanism of insects is built and tested. This research of the provide method can obtain 94 new flapping mechanisms and one prototype of a flying insect mechanism.

並列關鍵字

Dimension Design ； Flapping-Wing ； Kinematic Analysis ； Micro Air Vehicles ； Type Synthesis

參考文獻

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