振翼機構之類型合成與運動分析

Type synthesis and kinematic analysis of flapping-wing mechanisms

許書凱(Shu-Kai Hsu)

指導教授 ： 徐孟輝

崑山科技大學/工程學院/電機工程研究所/碩士(2004年)

摘要

具有振翼機構的微飛行器中主要是用來從事軍事活動的偵察或危險地區的探勘。然而振翼機構設計的目的主要是模擬飛行生物的翅膀拍打動作。因此本研究目的是設計出能模擬長耳蝙蝠翅膀拍打動作的新型振翼機構。
首先分析現有振翼機構之拓樸構造特性與運動特性，然後訂定拓樸特性與運動特性的設計限制。在藉由拓樸特性的設計限制並以顏氏機構設計方法合成出新型振翼機構。然後推導所獲得新型機構的運動方程式。再以新型機構之翅膀位置方程式為基礎並參考長耳蝙蝠翅膀位置方程式，以新型機構和常耳蝙蝠之翅膀位置的最小誤差做為新型機構的尺寸設計之目標函數。最後，對已設計尺寸之新型機構做正確的運動分析，並建立一組長耳蝙蝠的六桿八接頭振翼機構模型並予以測試。
本研究的所提方法可得到62個新型振翼機構與一組振翼機構的實作模型。

關鍵字

拓樸構造 ； 運動分析 ； 類型合成 ； 振翼機構 ； 微飛行器

並列摘要

The flapping-wing mechanisms are main elements of Micro Air Vehicles that can be used to patrol the military activity or explore the danger region. Designing the flapping-wing mechanisms is to simulate the wing-motion of flying being. The purpose of this work is to present a systematic approach for designing new flapping-wing mechanisms that can simulate the wing-motion of long ear bats. First, we analyze the topological structure and motion characteristics of existed flapping-wing 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-wing 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 (6,8) flapping mechanism of long ear bats is built and tested. This research of the provide method can obtain 62 new flapping-wing mechanisms and one prototype of flapping-wing mechanism.

並列關鍵字

Type synthesis ； topological str ； flapping-wing mechanisms ； Micro Air Vehicles ； kinematic analysis

參考文獻

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