蝙蝠研究
2010_仿生拍撲翼飛行器之最佳化設計與製作_宋隆椿
出版年份：2010
研究生：宋隆椿
分類：碩士論文
題目：仿生拍撲翼飛行器之最佳化設計與製作
Title：Optimization Design and Fabrications for Biomimetic Flapping-Wing Vehicle
摘要：
拍撲翼飛行器可從原地或在較小場地起飛，擁有比固定翼與旋轉翼較好的飛行機動性，及飛行費用低廉等，因此在民生和軍事上深具應用潛力。本文應用最佳化設計及路徑產生機構設計的理論，設計並製作出兩種仿生拍撲翼飛行器。
首先參考長耳蝙蝠拍翅飛行產生之翼尖軌跡，設計兩組對稱的四連桿路徑產生機構來產生具Weis-Fogh飛行機制之拍撲翼飛行器。而後，再根據天蛾停旋飛行時翼尖於兩平面產生之路徑，設計齒輪五連桿路徑產生機構，以產生”8”字型軌跡的拍撲翼飛行器。此兩種拍撲翼飛行器之驅動連桿組的設計，是基於向量迴路法推導出耦點路徑方程式，再經由路徑產生機構之最佳化尺寸設計而得。應用之最佳化方法為序列二次規劃法(SQP)、遺傳演算法以及混合遺傳演算法等三種，其目標函數為設計點與近似點距離平方和的最小值。再依照拍撲翼機構的運動特性需求，給予適當的拘束條件，如對四連桿驅動機構必須為曲柄搖桿機構且具有良好的傳動角，對齒輪五連桿驅動機構則必須為雙曲柄機構。最後，再參考生物飛行原理及市售的最小零件尺寸，設計馬達輸出端之減速齒輪組、翼翅尺寸，再經由3D組裝模擬、實際組裝、測試等步驟，成功研製出仿長耳蝙蝠飛行之新型Weis-Fogh機制拍撲翼飛行器及仿天蛾停旋飛行之拍撲翼飛行器。
Abstract：
Flapping-wing vehicle is designed to be used in small spaces, enjoying a better maneuverability than other wing vehicles like the fixed-wing and rotary-wing. It not only can fly at low costs but also has wide applications in civil engineering and military purpose. This thesis focuses on the optimizing design and the development of the path-generation of the bio-mimetic flapping-wing vehicle.
By considering the path of long-eared bat wingtip, we design the flight tracks of two symmetrical of four-bar linkage of Weis-Fogh flapping-wings. We also use the plane path of the Hawkmoth’s levitation wingtip to design a special geared five-bar linkage of flapping-wing vehicle which can be used to generate figure-of-eight path. The size of the driving linkage of these two kinds of flapping-wing vehicles is simply derived from the vector loop method and the path equations, following the design of the optimal size of the path generation mechanisms. In addition, using the sequential quadratic programming (SQP), genetic algorithms and hybrid genetic algorithms, the objective functions are landed on the minimum of squares of the distances between the designed point and other nearby points. We also follow the general characteristics of motion of the flapping-wing mechanism and provide with appropriate constraints such as that the drive mechanism of a four-bar linkage must has appropriate transmission angle size in crank-rocker mechanism and a geared five-bar drive mechanism must obey the double cranks mechanism. Finally, we refer to the biological flight pattern and the smallest size of items that can be purchased in shops, we design the gear reduction unit, the size of wings and other related output units of the motor. We further assemble these items, units and test them by 3D simulation in computer, and successfully develop new long-eared bats fly bio-mimetic of Weis-Fogh mechanism flapping-wing vehicle and bio-mimetic of the Hawkmoth’s levitation flapping-wing vehicle.