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標題: | 仿蝴蝶飛行器機構設計與模擬飛行測試 Design and Test of Butterfly-inspired Flapping Wing Mechanism |
作者: | 洪千茵 Chien-Ying Hung |
指導教授: | 楊鏡堂 Jing-Tang Yang |
關鍵字: | 蝴蝶飛行,仿生機構,機構設計,俯仰運動,粒子影像測速法, butterfly flight,bionic flapping-wing micro air vehicles,mechanism design,pitch motion,particle image velocimetry, |
出版年 : | 2021 |
學位: | 碩士 |
摘要: | 本研究設計製作仿大白斑蝶(Idea leuconoe)運動之撲翼機構,利用伺服馬達準確控制拍撲、掃掠以及腹部動作,並測試機構之旋轉中心,使得機構達到被動俯仰的效果,真實的模擬以及呈現蝴蝶運動的樣貌,以應用於俯仰動作對飛行性能之影響、拍撲飛行周遭流場的分析。 本研究利用三台高速攝影機擷取蝴蝶前飛影像,透過特徵點的標記以及分析,解析大白斑蝶的運動動態,包含翅膀拍撲、翅膀掃掠以及腹部運動,並以此作為機構設計以及控制上的參考。機構之設計製作採用5顆伺服馬達進行左右翅的拍撲、掃掠動作以及腹部動作的驅動,並且利用Arduino uno同步控制5顆馬達,此設計方式與連桿式機構相比,更能有效達到精準控制動作函數的目的,並且使得各個運動的參數改變更加彈性,將可使研究更加全面,而不侷限於仿真實蝴蝶動態的分析。 蝴蝶的飛行模式相較於其他昆蟲而言相當特殊,比起利用複雜的雙翅運動達到飛行控制的效果,蝴蝶是利用獨特的身體動作控制飛行。本研究透過實驗找尋機構合適的旋轉中心,並設計一旋轉支架將機構架於其上,使得機構能以指定位置為軸心旋轉,達到與真實蝴蝶相近的俯仰效果。 本文利用機構分別裝配剛性及撓性翅進行實驗,確認兩者俯仰動態相當一致,對兩者之研究建立在同樣基礎上,不受其他變因影響。本文進而利用粒子影像測速法觀察並分析兩者對流場的影響。以下拍階段產生的翼前緣渦漩而言,撓性翅膀在0.27週期產生穩定翼前緣渦漩,並良好的貼附在翼面上直到下拍結束;而剛性翅膀雖在0.3週期也逐漸形成明顯的翼前緣渦漩,卻始終無法良好的貼附在翼面上。 本研究設計並製作能產生與蝴蝶相近俯仰效果的機構,克服以往機構相關研究中因固定於特定角度而失真的現象,並且不需要利用模擬的複雜計算,只要更換不同材質的翅膀即可對翅膀撓性進行研究,為仿蝴蝶飛行器相關研究提供一簡易且靈活的研究方式。 This research designs a mechanism that mimics the movement of the Idea leuconoe, using five servo motors to accurately control flapping motion, lead-lag motion, and abdominal oscillation. Then we test the rotation center of the mechanism, so that the mechanism achieves the effect of passive pitching and simulate the movement of the butterfly. This study uses three high-speed cameras to capture images of the butterfly's forward flight. Through the marking and analysis of feature points, the movement dynamics of the Idea leuconoe are analyzed. Then we use these information to design and control the mechanism. The design of the mechanism uses 5 servo motors to drive the flapping motion and lead-lag motion of the left and right wings and abdominal oscillation. We use Arduino uno to control the 5 motors synchronously. Compared with the linkage mechanism, this design method can effectively achieve precision. Also, based on the design, controlling the action function and making the parameter change of each movement become more flexible. Compared with other insects, the flight mode of the butterfly is quite special. While other insects use complex wing-motion to achieve flight control effects, the butterfly uses unique body movements to control the flight. This research finds the appropriate rotation center of the mechanism through experiments, and designs a rotating bracket to mount the mechanism on it, so that the mechanism can rotate around the specified position as the axis to achieve a pitch effect similar to real butterfly. This paper uses the mechanism to separately assemble the rigid and flexible wings to conduct experiments, confirming that the pitch dynamics of the two are quite consistent, and confirming that the study of the difference between the two is based on the same basis and is not affected by other variables. In this paper, particle image velocimetry is used to observe and analyze the influence of the two kinds of wing on the flow field. The flexible wings generate a stable leading edge vortex in 0.27 cycle, and it attaches to the wing surface until the end of the downstroke. The leading edge vortex gradually formed in 0.3 cycle while using the rigid wings, but it is still unable to attached well to the wing surface. This research designs and manufactures a mechanism that can produce a pitch effect similar to that of a butterfly. We overcome the distortion caused by fixing at a specific angle in the previous mechanism related research. And to study for effect of flexible wings, we don’t have to use complex simulating calculations, we can simply replace the wings with different materials to achieve the goal. To summarize, we provide an easy and controllable method for related research on butterfly-like MAV. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/82345 |
DOI: | 10.6342/NTU202101632 |
全文授權: | 同意授權(全球公開) |
電子全文公開日期: | 2023-07-30 |
顯示於系所單位: | 機械工程學系 |
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ntu-109-2.pdf | 6.54 MB | Adobe PDF | 檢視/開啟 |
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