Deployable wings for an aircraft
An apparatus for deploying the wings of a movable-wing aircraft includes a spherical four-bar mechanism. The spherical four-bar mechanism has a first bar to which a first wing is attached, a second bar to which a second wing is attached, a third, movable bar rotatably or movably linking the first bar to the second bar at a first respective point on each bar, and a fourth bar grounding the first and second bar at a second respective point on each bar. The spherical four-bar mechanism may be mathematically optimized for space, size, and movement by a system of kinematic equations to allow the first and second wing to open at substantially the same time without colliding with one another. The wings of the aircraft may further include a mid-wing hinge with a movable stiffening spar to allow the wings to fold to a more compact size during storage.
1 . An apparatus for deploying wings of an aircraft, comprising:
a closed-loop mechanism comprising:
a first member;
a second member rotatably connected to the first member about a first rotational axis;
a third member rotatably connected to the first member about a second rotational axis; and
a fourth member pivotally connected to both the second member and the third member, wherein the fourth member kinematically constrains rotational movement of the second member and the third member in a nonlinear motion profile;
a first wing operatively connected to the second member; and
a second wing operatively connected to the third member,
wherein rotation of the second member and the third member in the nonlinear motion profile causes rotational deployment of the first wing and the second wing of the aircraft in accordance with the nonlinear motion profile.
2 . The apparatus of claim 1 , wherein the deployment rotation of the wings is symmetric.
3 . The apparatus of claim 1 , wherein the deployment rotation of the wings is asymmetric.
4 . The apparatus of claim 1 , further comprising a deployment actuator operatively connected to at least one member of the closed-loop mechanism;
wherein the deployment actuator causes a coordinated rotation of the second member and the third member via kinematic constraints of the fourth member of the closed-loop mechanism, thereby rotating the first wing and the second wing into a deployed position according to the nonlinear motion profile.
5 . The apparatus of claim 4 , further comprising a hinge flap;
wherein the first wing and the second wing meet at a mating profile, and rotation of the first wing and the second wing into the deployed position also moves the hinge flap over the mating profile.
6 . The apparatus of claim 4 , wherein the deployment actuator is any one of a shape memory alloy, motor, hydraulic piston, thermally actuated piston, a thermo-electrically activated piston, or electromagnetic piston and the deployment actuator comprises any one of an elastic member or a pulley.
7 . The apparatus of claim 1 , wherein the first wing and the second wing each further comprise:
a first wing segment;
a second wing segment; and
a mid-wing hinge connecting the first wing segment and the second wing segment, wherein the mid-wing hinge is configured to allow the first wing segment to fold relative to the second wing segment in a non-deployed position.
8 . The apparatus of claim 7 , wherein the first wing and the second wing each further comprise a movable spar configured to move from a first position within the first wing segment or the second wing segment to a second position spanning the first wing segment and the second wing segment.
9 . The apparatus of claim 1 , wherein the nonlinear motion profile is determined through an approximate kinematic synthesis process using polynomial homotopy continuation to prevent collisions between the first wing and the second wing during deployment.
10 . The apparatus of claim 9 , wherein the approximate kinematic synthesis process determines the nonlinear motion profile constrained by at least one predefined ground pivot location.
11 . An apparatus for deploying wings of an aircraft, comprising:
a spherical four-bar mechanism comprising:
a first member;
a second member rotatably connected to the first member;
a third member rotatably connected to the first member; and
a fourth member pivotally connected to both the second member and the third member;
a first wing operatively connected to the second member at a first point;
a second wing operatively connected to the third member at a second point;
a deployment actuator operatively connected to the fourth member of the spherical four-bar mechanism;
wherein the deployment actuator moves the fourth member of the spherical four-bar mechanism according to a nonlinear motion profile, in turn rotating the second member and the third member of the spherical four-bar mechanism, thereby rotating the first wing and the second wing into a deployed position whereby the first point and the second point meet at a mating profile; and
a hinge flap, wherein rotation of the first wing and the second wing into the deployed position also moves the hinge flap over the mating profile.
12 . The apparatus of claim 11 , wherein the deployment actuator comprises any one of an elastic member or a pulley.
13 . The apparatus of claim 11 , wherein the deployment actuator is any one of a shape memory alloy, motor, hydraulic piston, thermally actuated piston, thermo-electrically activated piston, or electromagnetic piston.
14 . The apparatus of claim 11 , wherein the first wing and the second wing each further comprise;
a first wing segment;
a second wing segment; and
a mid-wing hinge connecting the first wing segment and the second wing segment, wherein the mid-wing hinge is configured to allow the first wing segment to fold relative to the second wing segment in a non-deployed position.
15 . The apparatus of claim 14 , wherein the first wing and the second wing each further comprise a movable spar configured to move from a first position within the first wing segment or the second wing segment to a second position spanning the first wing segment and the second wing segment.
16 . The apparatus of claim 11 , wherein the nonlinear motion profile is determined through an approximate kinematic synthesis process using polynomial homotopy continuation to prevent collisions between the first wing and the second wing during deployment.
17 . A non-transitory, computer-readable medium storing instructions that, when executed by a computing device, cause the computing device to perform operations comprising:
determining kinematic constraints of a closed-loop mechanism, the closed-loop mechanism comprising:
a first member;
a second member rotatably connected to the first member;
a third member rotatably connected to the first member; and
a fourth member pivotally connected to the second member and the third member such that the fourth member kinematically constrains rotation motion of the second member and the third member;
generating a motion profile based on geometric parameters of a first wing and a second wing and the kinematic constraints of the closed-loop mechanism, wherein:
each wing is coupled to a respective member of the closed-loop mechanism;
the motion profile defines a synchronized deployment trajectory for the first wing and the second wing; and
the motion profile includes a deviation from a target trajectory; and
optimizing the geometric parameters and the kinematic constraints by minimizing the deviation of the motion profile from the target trajectory.
18 . The non-transitory, computer-readable medium of claim 17 , wherein generating the motion profile is through an approximate kinematic synthesis process using polynomial homotopy continuation to prevent collisions between the first wing and the second wing during deployment.
19 . The non-transitory, computer-readable medium of claim 18 , wherein the approximate kinematic synthesis process generates the motion profile constrained by at least one predefined ground pivot location.
20 . The non-transitory, computer-readable medium of claim 17 , wherein optimizing the geometric parameters and the kinematic constraints account for at least one of mechanical interference between the first wing and the second wing, force used to actuate the closed-loop mechanism, and deployment timing constraints.