Design and analysis of morphing wing mechanism based on equilateral Bennett mechanism
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摘要:
变体飞行器是一种通过变形机构改变自身气动外形，以适应多种飞行环境与任务要求的新概念飞行器，在航空航天、军事侦察等领域具有重要的应用价值，是未来飞行器研究的前沿与热点。针对变体飞行器广空域、宽速域等新的发展需求，基于等边Bennett机构提出一种具有空间多回路闭链特征的展向弯曲变形翼机构。研究等边Bennett机构的几何特性，提出基于等边Bennett机构的多回路闭环变形翼机构设计方案；采用约束螺旋求解法对变形翼机构自由度进行求解，基于D-H坐标变换法建立运动学模型；建立机构三维模型及虚拟样机，并进行运动学仿真验证，制作样机并进行实验。研究结果表明：所提的变形翼机构仅需一个动力源即可驱动机构运动，结构简单、模块化率高；能够实现各零部件间的准确连接及预期的展向弯曲变形动作。研究成果为新型变体飞行器变形翼的基础研究及工程应用提供了借鉴与参考。
Abstract:Morphing aircraft is a new concept vehicle that changes its aerodynamic shape by a morphing mechanism to adapt to various flight environments and mission requirements, which has important application value in aerospace, military reconnoitre, and other fields and is the frontier and hot spot of future vehicle research. In response to the new development needs of wide airspace and wide speed domain of the morphing aircraft, a spanwise bending morphing wing mechanism with a multi-closed-loop space mechanism based on the equilateral Bennett mechanism was proposed. Firstly, the geometric characteristics of the equilateral Bennett mechanism were studied, and the design scheme of the multi-closed-loop morphing wing mechanism based on the equilateral Bennett mechanism was proposed. Secondly, the constrained spiral solution method was used to solve the degrees of freedom of the morphing wing mechanism, and the kinematic model was established based on the D-H coordinate transformation method. Then, the 3D model and virtual prototype of the mechanism were established, and the kinematic simulation was carried out to verify the above model. The prototype was made, and the experiment was carried out. The research results show that the proposed morphing wing mechanism needs only one power source to drive the mechanism movement, with a simple structure and high modularity rate, and the proposed morphing wing mechanism can realize the accurate connection between the parts and the expected spanwise bending action. The research results provide a reference for the basic research and engineering application of morphing wings for new types of morphing aircraft.
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图 9 变形翼结构示意图(包含翼肋)
Figure 9. Schematic of morphing wing structure (including wing rib)
图 11 等边Bennett机构约束螺旋参数
Figure 11. Constrained spiral parameters of equilateral Bennett mechanism
图 13 带有同步驱动机构的平面机构回路示意图
Figure 13. Schematic of planar mechanism loop with synchronous drive mechanism
图 27 变形翼机构原理样机变形实验
Figure 27. Deformation experiment of morphing wing mechanism prototype
表 1 空间六杆机构D-H参数
Table 1. D-H parameters of space six-bar mechanism
i ai αi di ϕi 1 l αi 0 ϕ1 2 l π−αi 0 ϕ2 3 l 0 0 ϕ3 4 l 0 0 ϕ4 
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