单电机驱动仿鸟翅膀，实现自动折叠与空间挥动。
Bird-Inspired Spatial Flapping Wing Mechanism via Coupled Linkages with Single Actuator
- 用两个耦合的空间四杆机构构建，仅需一个电机驱动。
- 通过被动切换实现翅膀在挥动周期中自动展开与折叠。
- 结构轻巧，适合仿生机器人设计，尤其适合追求简洁控制的场景。
空间单回路机构如Bennett连杆机构具有单自由度驱动和复杂空间轨迹的特性，适用于轻量化仿生机器人设计。然而，由于几何任务导向的综合涉及复杂的数学问题，工程实践中常被回避。本文提出一种仿鸟飞行的扑翼机构，由两个耦合的空间四杆机构组成，由单一电机驱动。其中一个连杆主动驱动以生成所需的空间挥动轨迹，串联的另一个连杆则保持未驱动状态，在挥动周期中被动地在展开与折叠状态间切换。本文提出一种简化的方法，从包含特定表面积的四边形构造Bennett连杆，并利用机械诱导的被动状态切换。该架构实现了单输入驱动下的协调挥动与折叠运动，有效降低重量与控制复杂度。一个3D打印原型已组装并测试，验证了预期的空间运动轨迹和被动折叠行为。
原文摘要 · Abstract (English)
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-inspired robotic design. However, although they appear simple and elegant, the geometric task-based synthesis is rather complicated and often avoided in engineering tasks due to the mathematical complexity involved. This paper presents a bird-inspired flapping-wing mechanism built from two coupled spatial four-bars, driven by a single motor. One linkage is actuated to generate the desired spatial sweeping stroke, while the serially coupled linkage remains unactuated and passively switches between extended and folded wing configurations over the stroke cycle. We introduce a simplified kinematic methodology for constructing Bennett linkages from quadrilaterals that contain a desired surface area and further leverage mechanically induced passive state switching. This architecture realizes a coordinated sweep-and-fold wing motion with a single actuation input, reducing weight and control complexity. A 3D-printed prototype is assembled and tested, demonstrating the intended spatial stroke and passive folding behavior.
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