优化扑翼机构设计，提升升力与效率，降低34%能耗。
Design optimization and robustness analysis of rigid-link flapping mechanisms
- 结合有限元与涡格法，自动优化单自由度扑翼机构几何参数。
- 优化后升力系数提高，功率降低最高达34%，源于非对称扫掠速度。
- 揭示不同构型对制造公差敏感性差异，指导选型与精度控制。
刚性连杆扑翼机构因长期耐用性和可靠性，仍是微型扑翼飞行器（MAVs）携带有效载荷和机载电池实现自由飞行的最实用选择。然而，为实现高机动性，需显著减重。现有方法多采用单自由度平面连杆机构，但通常未针对高升力、低功耗进行尺寸优化，且忽视了运动轨迹的扫掠特性和非定常气动效应。本文将基于准静态非线性有限元法的机构仿真器与基于非定常涡格法的气动分析工具集成至优化流程中，对文献中的三种机构拓扑进行了优化。结果显示，在某些情况下功率可降低高达34%，主要得益于优化后的非对称扫掠速度带来的振幅增加和升力系数提升。进一步开展鲁棒性分析，量化性能对制造公差的敏感性，揭示了性能与可靠性的权衡关系，表明需严格制造公差并谨慎选材。分析还发现，不同拓扑在相同设计升力下，对制造公差的敏感性和峰值输入扭矩存在显著差异，有助于筛选最优拓扑。所提出的统一计算工具可应用于任意单自由度平面连杆机构的拓扑优化，无需手动输入运动学数据。
原文摘要 · Abstract (English)
Rigid link flapping mechanisms remain the most practical choice for flapping wing micro-aerial vehicles (MAVs) to carry useful payloads and onboard batteries for free flight due to their long-term durability and reliability. However, MAVs with these mechanisms require significant weight reduction to achieve high agility and maneuverability. One approach involves using single-DOF planar rigid linkages, which are rarely optimized dimensionally for high lift and low power, considering their sweeping kinematics and the unsteady aerodynamic effects. We integrated a mechanism simulator based on a quasistatic nonlinear finite element method with an unsteady vortex lattice method-based aerodynamic analysis tool within an optimization routine. We optimized three different mechanism topologies from the literature. Significant power savings were observed up to 34% in some cases, due to increased amplitude and higher lift coefficients resulting from optimized asymmetric sweeping velocity profiles. We also conducted a robustness analysis to quantify performance sensitivity to manufacturing tolerances. It provided a trade-off between performance and reliability and revealed the need for tight manufacturing tolerances and careful material selection. Finally, the analysis helped select the best mechanism topology, as we observed significant variation in sensitivity to manufacturing tolerances and peak input torque values across different topologies for a given design lift value. The presented unified computational tool can find application in flapping mechanism topology optimization, as it can simulate any generic single-DOF planar rigid linkage without supplying kinematics manually.
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