多模式扑翼驱动机构研究进展及发展趋势

doi:10.3901/JME.260149

机械工程学报 ›› 2026, Vol. 62 ›› Issue (7): 169-184.doi: 10.3901/JME.260149

• 机器人与机构学 • 上一篇

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多模式扑翼驱动机构研究进展及发展趋势

吕浩铭¹, 张忠海^1,2, 李端玲³

1. 河北工业大学机械工程学院天津 300401;
2. 先进智能防护装备技术教育部重点实验室天津 300401;
3. 北京邮电大学智能工程与自动化学院北京 100876

收稿日期:2025-02-25 修回日期:2025-05-14 发布日期:2026-05-25
作者简介:吕浩铭，男，2002年出生。主要研究方向为智能机器人。E-mail:2305213852@qq.com
张忠海(通信作者)，男，1971年出生，博士，研究员。主要研究方向为智能机器人、特种无人机、机器人学与机构学。E-mail:zhonghzhang@163.com
李端玲，女，1974年出生，教授，博士研究生导师。主要研究方向为变胞机构、放缩机构、形变机构等新机构、新类型，新型机器人的研发与应用，复杂机电装备的结构设计与开发。E-mail:liduanling@163.com
基金资助:
河北省自然科学基金(F2024202052)、国家自然科学基金(52175019)、北京市自然科学基金(L222038)、北京市科技新星交叉项目(20240484699)、中国航天科技集团公司第八研究院产学研合作基金(SAST2022-017)、天地互联与融合北京市重点实验室和物联网监测预警应急管理部重点实验室资助项目。

Research Progress and Development Trends of Multi-mode Flapping-wing Drive Mechanisms

Lü Haoming¹, ZHANG Zhonghai^1,2, LI Duanling³

1. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401;
2. Key Laboratory of Advanced Intelligent Protective Equipment Technology, Ministry of Education, Tianjin 300401;
3. School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing 100876

Received:2025-02-25 Revised:2025-05-14 Published:2026-05-25

摘要/Abstract

摘要： 扑翼飞行器具备特殊的高升力机制，推进效率高，灵活性能好，其整体的飞行性能与扑翼驱动机构有着重要的关联。随着具备诸多优点的扑翼飞行器进入人们的视野，人们对扑翼飞行器的性能提出了更高的要求，国内外的研究学者们针对扑翼驱动机构的理论研究与设计也不断地深入。针对目前扑翼驱动机构多模式复合运动的发展与应用状况，以旋转驱动连杆式和智能材料驱动式两个角度进行综合论述，分析其各自在扑翼飞行器中的应用，总结其各自的特点，展望了扑翼驱动机构多自由度的实现、微型化及轻质化的发展态势以及高性能材料开发与应用不断拓展结构类型的趋势等。通过对目前扑翼驱动机构的总结分析，为今后扑翼驱动机构的设计与扑翼飞行器的发展提供一定的参考。

关键词: 扑翼驱动机构, 多模式, 连杆式, 旋转驱动, 智能材料

Abstract: Flapping-wing aircraft exhibit unique high-lift characteristics, high propulsion efficiency, and exceptional agility, with their overall flight performance critically dependent on the design and functionality of their flapping-wing drive mechanisms. As these aircraft, renowned for their numerous advantages, gain prominence, there is a growing demand for enhanced performance. Researchers worldwide have intensified theoretical investigations and innovative designs of flapping-wing drive mechanisms. A comprehensive analysis is carried out from the perspectives of rotary-driven linkage mechanisms and smart material-driven mechanisms, addressing the current developmental and applicational status of multi-mode hybrid motion in flapping-wing drive mechanisms. Their respective applications in flapping-wing aircraft are systematically examined, their operational characteristics are comparatively summarized, and future directions are projected, including the realization of multi-degree-of-freedom mechanisms, advancements in miniaturization and lightweight architectures, and the progressive diversification of structural configurations facilitated by the exploration and integration of high-performance materials. Through a comprehensive summary and analysis of current flapping-wing drive mechanisms, valuable references are provided for the future design of such mechanisms and the advancement of flapping-wing aircraft.

Key words: flapping-wing drive mechanism, multi-mode, linkage-based, rotary drive, smart materials

中图分类号:

V276

吕浩铭, 张忠海, 李端玲. 多模式扑翼驱动机构研究进展及发展趋势[J]. 机械工程学报, 2026, 62(7): 169-184.

Lü Haoming, ZHANG Zhonghai, LI Duanling. Research Progress and Development Trends of Multi-mode Flapping-wing Drive Mechanisms[J]. Journal of Mechanical Engineering, 2026, 62(7): 169-184.

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多模式扑翼驱动机构研究进展及发展趋势

Research Progress and Development Trends of Multi-mode Flapping-wing Drive Mechanisms

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