6R两自由度空间扑翼机构设计与分析
Design and Analysis of 6R Spatial Flapping-wing Mechanism with Two Degrees of Freedom

对现有空间连杆机构进行分析改进，提出了一种6R对称布置的具有两自由度的空间扑翼机构。首先，通过对6R空间扑翼机构理论计算和仿真分析，得到了不同杆长对翼尖"8"字形轨迹的影响规律。然后，提出通过调整扑翼平均上反角来提高飞行平稳性的方法。最后，采用Adams对本文设计的机构进行仿真分析，结果表明所设计的空间扑翼机构传动流畅平稳，并满足扑动角和扭转角相位相差90°。
In this paper, by analyzing and improving the existing spatial linkage mechanism, a kind of 6R symmetric spatial flapping mechanism with two degrees of freedom is proposed for flapping-wing air vehicle. Firstly, through the theoretical calculation and simulation analysis of 6R spatial flapping-wing mechanism, the effect of different pole lengths on the "8" shape trajectory of wingtip is obtained. Then, a design method is proposed to improve the flight stability by adjusting the average dihedral angle of flapping-wing. The proposed mechanism is simulated by Adams software and the results show that the design of spatial flapping-wing mechanism is robust and steady, and the requirement of 90° phase difference between flapping angle and torsion angle is met