仿蜜蜂蜂腰结构的变体机构设计与实验

doi:10.3901/JME.2025.17.105

摘要/Abstract

摘要： 空天飞行器的头锥构型对其各个飞行阶段的最佳气动外形有着重要的意义。观察发现蜜蜂蜂腰的结构变化与空天飞行器的变体头锥变形需求一致，因此可以借鉴蜜蜂蜂腰的变形来设计仿生变体头锥结构。通过对蜜蜂蜂腰的变形运动进行观察与分析，可以得到蜜蜂蜂腰的最大伸缩率与弯曲角度，并设计一种性能优于蜜蜂蜂腰结构的变体头锥机构。基于3-RSR并联机构的运动学特性，设计3(3-RSR)串并联机构，并对其进行运动学的理论计算与虚拟样机仿真分析。加工制造3(3-RSR)变体机构物理样机并设计外壳，进行运动学实验验证。实验证明本变体机构的最大伸缩率可达38.87%，最大弯曲角度可达60.172°，伸缩运动的定位精度可达2.25 mm，重复定位精度可达±0.49 mm。该样机的结构伸缩率与最大弯曲角度均优于蜜蜂蜂腰结构，并具有与蜜蜂蜂腰结构类似的分节结构，可满足空天飞行器不同阶段的最佳气动外形。

关键词: 仿生设计, 蜜蜂蜂腰, 3(3-RSR)机构, 运动学分析, 实验验证

Abstract: The nose cone configuration of space vehicle plays an important role in the optimal aerodynamic shape of each flight stage. It is found that the structural change of honeybee’s abdomen is consistent with the deformation demand of the variant nose cone of the space vehicle, so the bionic variant nose cone structure can be designed by reference to the deformation of honeybee’s abdomen. By observing and analyzing the deformation motion of honeybee's abdomen, the maximum expansion rate and bending angle of honeybee’s abdomen can be obtained, and a variant nose cone mechanism with better performance than honeybee’s abdomen structure can be designed. Based on the kinematics characteristics of 3-RSR parallel mechanism, 3(3-RSR) series parallel mechanism is designed, and its kinematics theoretical calculation and virtual prototype simulation are carried out. The physical prototype of 3(3-RSR) variant mechanism was manufactured and the shell was designed, and the kinematic experiment was carried out. The experimental results show that the maximum elongation of the mechanism can reach 38.87%, the maximum bending angle can reach 60.172°, the positioning accuracy of the telescopic movement can reach 2.25 mm, and the repeated positioning accuracy can reach ±0.49 mm. The structural expansion rate and maximum bending angle of the prototype are better than that of the honeybee’s abdomen shaped structure, and it has a segmentation structure similar to the honeybee’s abdomen shaped structure, which can meet the optimal aerodynamic shape of the space vehicle at different stages.

Key words: bionic design, honeybee abdomen, 3(3-RSR) mechanism, kinematic analysis, experimental verification

中图分类号:

TP242

隋峻浩, 赵宏哲, 杨浩, 于靖军. 仿蜜蜂蜂腰结构的变体机构设计与实验[J]. 机械工程学报, 2025, 61(17): 105-113.

SUI Junhao, ZHAO Hongzhe, YANG Hao, YU Jingjun. Research and Experiment of a Modified Honeybee Abdomen Mechanism[J]. Journal of Mechanical Engineering, 2025, 61(17): 105-113.

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