Morphing Wing Based on Trigonal Bipyramidal Tensegrity Structure and Parallel Mechanism

The development of morphing wings is in the pursuit of lighter weight, higher stiffness and strength, and better flexible morphing ability. A structure that can be used as both the bearing structure and the morphing mechanism is the optimal choice for the morphing wing. A morphing wing composed of a tensegrity structure and a non-overconstrained parallel mechanism was designed. The self-balancing trigonal bipyramidal tensegrity structure was designed based on the shape-finding method and force-equilibrium equation of nodes. The 4SPS-RS parallel mechanism that can complete wing morphing was designed based on the configuration synthesis method. The degree of freedom and inverse solution of the parallel mechanism was obtained based on the screw theory, and the Jacobian matrix of the parallel mechanism was established. The stiffness model of the tensegrity structure and the 4SPS-RS parallel mechanism was established. The relationship between the deformation of the 4SPS-RS parallel mechanism and sweep angle, torsion angle, spanwise bending, and span was obtained. Through the modular assembly and distributed drive, the morphing wing could perform smooth and continuous morphing locally and globally. In the static state, it has the advantages of high stiffness and large bearing capacity. In the process of morphing, it can complete morphing motion with four degrees of freedom in changing sweep, twist, spanwise bending, and span of the wing.