Resumen
Most of the driving mechanisms used in micro flapping wing vehicles are gear and linkage transmission mechanisms, which convert the unidirectional rotation of the motor into the reciprocating flapping of the driving mechanism. However, gear and linkage transmission mechanisms occupy a larger space and weight with certain energy losses. This article introduces a drive mechanism that is different from gear and linkage mechanisms, namely the string-based mechanism. In this study, the working principle and various parameters in string-based mechanisms are analyzed, and the flapping trajectory and amplitude of the mechanism is simulated. Following that, this article proposes an improved method of the cam mechanism, designs the trajectory of a cam mechanism, and a physical design is carried out with a driving mechanism width of 22 mm. Subsequently, the experiments are conducted to compare the flapping trajectory of the actual mechanism with the simulation trajectory, thereby verifying the simulation accuracy. The results prove that, in a string-based mechanism, the ratio of the radius of the pulley to the installation radius of the double-layer bearings has a direct impact on the flapping amplitude, and optimizing the design of cam mechanisms can effectively reduce the tensile and relaxation phenomena in string-based mechanisms. The above conclusion was verified in physical experiments, where the modified cam mechanism effectively reduced the stuck phenomenon in the string-based mechanism.