CN102897322A - Two-dimensional flutter miniature flapping flight robot mechanism - Google Patents
Two-dimensional flutter miniature flapping flight robot mechanism Download PDFInfo
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- CN102897322A CN102897322A CN2011102096132A CN201110209613A CN102897322A CN 102897322 A CN102897322 A CN 102897322A CN 2011102096132 A CN2011102096132 A CN 2011102096132A CN 201110209613 A CN201110209613 A CN 201110209613A CN 102897322 A CN102897322 A CN 102897322A
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Abstract
The invention belongs to the microrobot field, and concretely relates to a two-dimensional flutter miniature flapping flight robot mechanism. The miniature flapping flight robot mechanism comprises wings, internal and external flexible transmission parts, a transmission mechanism, a body, a body rotation shaft, an empennage, a motor and a control plate, wherein one end of the body rotation shaft is arranged on the body, the other end of the body rotation shaft is hinged to the internal and external flexible transmission parts, the internal and external flexible transmission parts are connected with the wings respectively, and the empennage is arranged on the body; the motor is arranged on the body and is in electric connection with the control plate on the body, one end of the transmission mechanism is connected with the output shaft of the motor, and the other end of the transmission mechanism is connected with the internal and external flexible transmission parts respectively through connection rods; and the internal and external flexible transmission parts are respectively provided with a flexible semi-ring, and each of the internal and external flexible transmission parts and the wings connected thereby has a freedom degree for flapping around the body rotation shaft in an up and down manner and a freedom degree for rotating with the flexible semi-rings. The miniature flapping flight robot mechanism which adopts a passive submissive hinge to realize a two-dimensional flutter function has the advantages of reduction of the complex degree of the mechanism, and improvement of the flight efficiency.
Description
Technical field
The invention belongs to the microrobot field, specifically a kind of two-dimensional flapping micro-scale flapping-wing robot mechanism.
Background technology
Micro-robot (MAV, Micro Air Vehicle) has the characteristics such as volume is little, lightweight, cost is low, flight is flexible, and is huge in national defence and civil area application potential.Bionics and aerodynamic current research show, when the span during less than 15cm, flapping flight has more advantage than fixed-wing and rotor flying.Flapping wing MAV has bionical flying method, can littleization degree high, good concealment, flight maneuver are high, its sized flap wings system integrates lifting, hovers and propulsion functions, can more grow with less energy the flight of distance, be highly suitable under the additional and relatively remote condition of long-time energy free and execute the task, be considered to the most promising minute vehicle, obtained very big concern and the great attention of countries in the world.
At present, the mini-sized flap wings flying robot mainly adopts the bionic design principle, is to adopt three-dimensional to flutter to realize high efficiency flight mostly the fly able insect of occurring in nature; And under study for action since the restriction of structure space and quality how it is reduced to one dimension to flutter, such simplification so that the efficient of flight reduce greatly.
Summary of the invention
In order to solve the existing low problem of mini-sized flap wings flying robot flight efficiency, the object of the present invention is to provide a kind of two-dimensional flapping micro-scale flapping-wing robot mechanism, adopt the passive compliance hinge to realize the two dimension function of fluttering, reach the purpose that improves aircraft flight efficient.
The objective of the invention is to be achieved through the following technical solutions:
The present invention includes wing, outer flexible tumbler, interior flexible tumbler, transmission device, fuselage, fuselage rotating shaft, empennage, motor and control desk, one end of its middle machine body rotating shaft is installed on the fuselage, the other end and outer flexible tumbler and interior flexible tumbler are hinged, be connected with respectively wing on flexible tumbler and the interior flexible tumbler outside, empennage is installed on the fuselage; Described motor is installed on the fuselage, be electrically connected with control desk on being arranged on fuselage, and an end of transmission device links to each other with the output shaft of motor, the other end by connecting rod respectively with outer flexible tumbler be connected flexible tumbler and be connected; Be respectively equipped with flexible semi-ring on described outer flexible tumbler and the interior flexible tumbler, outer flexible tumbler all has the degree of freedom of fluttering up and down around the fuselage rotating shaft and the degree of freedom that rotates with flexible semi-ring with the wing of being connected flexible tumbler and connect separately.
Wherein: described outer flexible tumbler is connected with an end of first connecting rod respectively on the flexible tumbler with being connected, and the other end of two first connecting rods links to each other with an end of third connecting rod respectively, and the other end of third connecting rod is connected with the mouth of transmission device; Described two first connecting rods and two third connecting rods are positioned at the both sides of transmission device;
Described outer flexible tumbler comprises the second flexible semi-ring and the second pipe link, wherein the two ends of the second flexible semi-ring are respectively equipped with the 3rd contiguous block and the 4th contiguous block, the 3rd contiguous block has the second wing connecting bore along its length, one end of described the second pipe link is connected with the 3rd contiguous block, and the other end has the second connecting bore that links to each other with first connecting rod; One end of described the 4th contiguous block is that open slot is left in " recessed " shape, centre, and the part of these open slot both sides has the second fuselage axis lever attachment hole hinged with fuselage rotating shaft and interior flexible tumbler; Described the 3rd contiguous block is cuboid, and two end faces that wherein area is less are coplanar with the second flexible semi-ring both sides curved end respectively, and in larger four faces of cuboid area is tangent with the second flexible semi-ring, and three are positioned at the second flexible semi-ring in addition; The other end of the 4th contiguous block is cuboid, in two end faces that wherein area is less one is coplanar with the second flexible semi-ring one side curved end, another and described " recessed " shaped part are divided combination, in larger four faces of cuboid area one is tangent with the second flexible semi-ring, and three are positioned at the second flexible semi-ring in addition;
Described interior flexible tumbler comprises the first flexible semi-ring and head rod, wherein the two ends of the first flexible semi-ring are respectively equipped with the first contiguous block and the second contiguous block, the first contiguous block has the first wing connecting bore along its length, one end of described head rod is connected with the first contiguous block, and the other end has the first connecting bore that links to each other with first connecting rod; Have the first fuselage axis lever attachment hole hinged with fuselage rotating shaft and outer flexible tumbler on described the second contiguous block; Described the first contiguous block is cuboid, and two end faces that wherein area is less are coplanar with the first flexible semi-ring both sides curved end respectively, and in larger four faces of cuboid area is tangent with the first flexible semi-ring, and three are positioned at the first flexible semi-ring in addition; Described the second contiguous block is " L " shape, and the lateral surface and the first flexible semi-ring that are somebody's turn to do " L " shape are tangent, and the top end face on a limit of " L " shape and the first flexible semi-ring one side curved end are coplanar, have the first fuselage axis lever attachment hole on another limit of " L " shape;
Described transmission device is driving gear set, comprise the first～four gear, wherein the first gear is connected with the output axle key of motor, be installed on the fuselage to the second gear and the 3rd gear coaxial rotation, be positioned at the below of the first gear, the second gear and the engagement of the first gear, the 4th gear is positioned at the below of the second gear and the 3rd gear, and the 4th gear is meshed with the 3rd gear; Be respectively equipped with one group of first connecting rod and third connecting rod in the both sides of the first～four gear.
Advantage of the present invention and good effect are:
1. inside and outside flexible tumbler of the present invention is hinged with the fuselage rotating shaft respectively, again by first connecting rod, third connecting rod through transmission device by motor-driven, adopt the passive compliance hinge to realize the two dimension function of fluttering, reduced the complexity of mechanism, improved flight efficiency.
2. wing of the present invention can be with the distortion of flexible semi-ring, under rotate when pouncing on, increase wind area, improve lift; But backward rotation in the process that raises up reduces wind area, reduces the resistance in the process that raises up, and has improved the efficient of fluttering.
Description of drawings
Fig. 1 is perspective view of the present invention;
Fig. 2 is birds-eye view of the present invention;
Fig. 3 is the partial enlarged drawing at A place among Fig. 2;
Fig. 4 is the perspective view of interior flexible tumbler among Fig. 1;
Fig. 5 is the perspective view of the flexible tumbler in Fig. 2 China and foreign countries;
Fig. 6 is the wing of the present invention design sketch of fluttering;
Wherein: 1 is wing,
2 is outer flexible tumbler, and 201 is the second fuselage axis lever attachment hole, and 202 is open slot, and 203 is the second wing connecting bore, and 204 is the second connecting bore, and 205 is the second pipe link, and 206 is the second flexible semi-ring, and 207 is the 3rd contiguous block, and 208 is the 4th contiguous block,
3 is interior flexible tumbler, and 301 is the first fuselage axis lever attachment hole, and 302 is the first wing connecting bore, and 303 is head rod, and 304 is the first connecting bore, and 305 is the first flexible semi-ring, and 306 is the first contiguous block, and 307 is the second contiguous block,
4 is driving gear set, and 5 is fuselage, and 6 is the fuselage rotating shaft, and 7 is empennage, and 8 is first connecting rod, and 9 is motor, and 10 is second connecting rod, and 11 is control desk, and 12 is third connecting rod.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
Shown in Fig. 1～3, the present invention includes wing 1, outer flexible tumbler 2, interior flexible tumbler 3, transmission device, fuselage 5, fuselage rotating shaft 6, empennage 7, first connecting rod 8, motor 9, second connecting rod 10, control desk 11 and third connecting rod 12.
As shown in Figure 4, interior flexible tumbler 3 comprises the first fuselage axis lever attachment hole 301, the first wing connecting bore 302, head rod 303, the first connecting bore 304, the first flexible semi-ring 305, the first contiguous block 306 and the second contiguous block 307, wherein the two ends of the first flexible semi-ring 305 are respectively equipped with the first contiguous block 306 and the second contiguous block 307, the first contiguous block 306 is cuboid, two end faces that wherein area is less (being two end faces that width and short transverse form) are coplanar with the curved end of the first flexible semi-ring 305 both sides respectively, in larger four faces of cuboid area one (being length and the face in the outer part that highly forms) is tangent with an end of the first flexible semi-ring 305, and three in addition (upper and lower surfaces that namely are comprised of length and width and one by length and highly form in the inner part face) are positioned at the first flexible semi-ring 305; The first contiguous block 306 has the first wing connecting bore 302 along its length, and an end of described head rod 303 is connected with the first contiguous block 306, and the other end has the first connecting bore 304 that links to each other with first connecting rod 8.The second contiguous block 307 is " L " shape, the lateral surface on the long limit of this " L " shape and the other end of the first flexible semi-ring 305 are tangent, top end face and the first flexible semi-ring 305 1 side curved ends on this long limit are coplanar, have the first fuselage axis lever attachment hole 301 hinged with fuselage rotating shaft 6 and outer flexible tumbler 2 on another limit of " L " shape (being minor face).
As shown in Figure 5, outer flexible tumbler 2 comprises the second fuselage axis lever attachment hole 201, open slot 202, the second wing connecting bore 203, the second connecting bore 204, the second pipe link 205, the second flexible semi-ring 206, the 3rd contiguous block 207 and the 4th contiguous block 208, wherein the two ends of the second flexible semi-ring 206 are respectively equipped with the 3rd contiguous block 207 and the 4th contiguous block 208, the 3rd contiguous block 207 is cuboid, two end faces that wherein area is less (being two end faces that width and short transverse form) are coplanar with the curved end of the second flexible semi-ring 206 both sides respectively, in larger four faces of cuboid area one (being length and the face in the outer part that highly forms) is tangent with the second flexible semi-ring 206, and three in addition (upper and lower surfaces that namely are comprised of length and width and one by length and highly form in the inner part face) are positioned at the second flexible semi-ring 206; The 3rd contiguous block 207 has the second wing connecting bore 203 along its length, and an end of described the second pipe link 205 is connected with the 3rd contiguous block 207, and the other end has the second connecting bore 204 that links to each other with first connecting rod 8.One end of the 4th contiguous block 208 is that open slot 202 is left in " recessed " shape, centre, and the part of these open slot 202 both sides has the second fuselage axis lever attachment hole 201 hinged with fuselage rotating shaft 6 and interior flexible tumbler 3; The other end of the 4th contiguous block 208 is cuboid, one (being the end face that width and short transverse form) in two end faces that wherein area is less is coplanar with the second flexible semi-ring 206 1 side curved ends, another and described " recessed " shaped part are divided combination, in larger four faces of cuboid area one (being length and the face in the outer part that highly forms) is tangent with the second flexible semi-ring 206, and three in addition (upper and lower surfaces that namely are comprised of length and width and one by length and highly form in the inner part face) are positioned at the second flexible semi-ring 206.
The second contiguous block 307 is plugged in the open slot 202 of the 4th contiguous block 208 on the outer flexible tumbler 2 with an end of the first fuselage axis lever attachment hole 301 on the interior flexible tumbler 3, one end of fuselage rotating shaft 6 is installed on the fuselage 5, the other end passes first the second fuselage axis lever attachment hole 201 on the outer flexible tumbler 2, the first fuselage axis lever attachment hole 301 on the interior flexible tumbler 3, second the second fuselage axis lever attachment hole 201 on the outer flexible tumbler 2 successively, makes outer flexible tumbler 2 and interior flexible tumbler 3 hinged with fuselage rotating shaft 6.Be connected with respectively wing 1 on flexible tumbler 2 and the interior flexible tumbler 3 outside, the second wing connecting bore 203 and 302, two wings 1 of the first wing connecting bore on the interior flexible tumbler 3 that two wings 1 are connected to respectively on the outer flexible tumbler 2 can be fluttered up and down around fuselage rotating shaft 6 with outer flexible tumbler 2 and interior flexible tumbler 3 respectively.Empennage 7 is installed on the fuselage 5 by second connecting rod 10, is provided with control desk 11 at second connecting rod 10, and the motor 9 that is installed on the fuselage 5 is electrically connected with control desk 11.Transmission device is installed on the fuselage 5, be driving gear set 4, comprise the first～four gear, wherein the first gear is connected with the output axle key of motor 9, be installed on the fuselage 5 to the second gear and the 3rd gear coaxial rotation, be positioned at the below of the first gear, the engagement of the second gear and the first gear, the 4th gear be positioned at the second gear and the 3rd gear the below, be installed in rotation on the fuselage 5, the 4th gear is meshed with the 3rd gear; Be respectively equipped with one group of first connecting rod 8 and third connecting rod 12 in the both sides of the first～four gear, wherein an end of the third connecting rod 12 of a side is connected with the gear axle key of the 4th gear, the other end links to each other with an end of first connecting rod 8, and the other end of first connecting rod 8 is connected to the first connecting bore 304 on the interior flexible tumbler 3; The connection of opposite side is identical, and namely an end of the third connecting rod 12 of opposite side is connected with the gear axle key of the 4th gear, and the other end links to each other with an end of first connecting rod 8, and the other end of first connecting rod 8 is connected to the second connecting bore 204 on the outer flexible tumbler 2.Outer flexible tumbler 2 drives driving gear set 4 with the wing 1 of being connected flexible tumbler 3 and connecting separately by motor 9 and can rotate with flexible semi-ring.
Installation of the present invention and principle of work are:
During installation, the second fuselage axis lever attachment hole 201 on the first fuselage axis lever attachment hole 301 on the interior flexible tumbler 3, the outer flexible tumbler 2 is enclosed within on the fuselage axostylus axostyle 6, and the first fuselage axis lever attachment hole 301 of interior flexible tumbler 3 is placed in the open slot 202 on the outer flexible drive parts 2, flutters in same plane with the leading edge that guarantees wing 1.Two wings 1 are inserted into respectively in the first wing connecting bore 302 on the interior flexible tumbler 3 and in the second wing connecting bore 203 on the outer flexible tumbler 2, two first connecting rods 8 are connected to respectively the first connecting bore 304 and the second connecting bore 204 again.The power of motor 9 is delivered on the inside and outside flexible tumbler 3,2 by third connecting rod 12, first connecting rod 8, drive inside and outside flexible tumbler 3,2 and rotate around fuselage rotating shaft 6, and then drive wing 1 is fluttered up and down.When first connecting rod 8 was drop-down, the pulling force of first connecting rod was so that the first flexible semi-ring 305 and the second flexible semi-ring 206 produce distortion, wing 1 under rotate when pouncing on, increase wind area, improve lift.When pushing away on the first connecting rod 8, the first flexible semi-ring 305 and the second flexible semi-ring 206 reversal deformations, wing 1 is backward rotation and then, reduces wind area, has reduced the resistance of wing 1 in the process of raising up.Two first connecting rods 8 are by motor 9 driven in synchronism.
So that wing deflects in the process of fluttering, the deflection effect guarantees that the lift of wing reduces the resistance of fluttering simultaneously as shown in Figure 6, has improved the efficient of fluttering by passive flexible hinge in the present invention.
Claims (9)
1. two-dimensional flapping micro-scale flapping-wing robot mechanism, it is characterized in that: comprise wing (1), outer flexible tumbler (2), interior flexible tumbler (3), transmission device, fuselage (5), fuselage rotating shaft (6), empennage (7), motor (9) and control desk (11), one end of its middle machine body rotating shaft (6) is installed on the fuselage (5), the other end and outer flexible tumbler (2) and interior flexible tumbler (3) are hinged, be connected with respectively wing (1) on flexible tumbler (2) and the interior flexible tumbler (3) outside, empennage (7) is installed on the fuselage (5); Described motor (9) be installed in fuselage (5) upper, be electrically connected with control desk (11) on being arranged on fuselage (5), one end of transmission device links to each other with the output shaft of motor (9), the other end by connecting rod respectively with outer flexible tumbler (2) be connected flexible tumbler (3) and be connected; Be respectively equipped with flexible semi-ring on described outer flexible tumbler (2) and the interior flexible tumbler (3), outer flexible tumbler (2) all has the degree of freedom of fluttering up and down around fuselage rotating shaft (6) and the degree of freedom that rotates with flexible semi-ring with the wing of being connected flexible tumbler (3) and connect separately.
2. by two-dimensional flapping micro-scale flapping-wing robot mechanism claimed in claim 1, it is characterized in that: described outer flexible tumbler (2) is connected with an end of first connecting rod (8) respectively on the flexible tumbler (3) with being connected, the other end of two first connecting rods (8) links to each other with an end of third connecting rod (12) respectively, and the other end of third connecting rod (12) is connected with the mouth of transmission device; Described two first connecting rods (8) and two third connecting rods (12) are positioned at the both sides of transmission device.
3. by two-dimensional flapping micro-scale flapping-wing robot mechanism claimed in claim 2, it is characterized in that: described outer flexible tumbler (2) comprises the second flexible semi-ring (206) and the second pipe link (205), wherein the two ends of the second flexible semi-ring (206) are respectively equipped with the 3rd contiguous block (207) and the 4th contiguous block (208), the 3rd contiguous block (207) has the second wing connecting bore (203) along its length, one end of described the second pipe link (205) is connected with the 3rd contiguous block (207), and the other end has the second connecting bore (204) that links to each other with first connecting rod (8); One end of described the 4th contiguous block (208) is that open slot (202) is left in " recessed " shape, centre, and the part of this open slot (202) both sides has the second fuselage axis lever attachment hole (201) hinged with fuselage rotating shaft (6) and interior flexible tumbler (3).
4. by two-dimensional flapping micro-scale flapping-wing robot mechanism claimed in claim 3, it is characterized in that: described the 3rd contiguous block (207) is cuboid, two end faces that wherein area is less are coplanar with the second flexible semi-ring (206) both sides curved end respectively, in larger four faces of cuboid area one is tangent with the second flexible semi-ring (206), and three are positioned at the second flexible semi-ring (206) in addition.
5. by two-dimensional flapping micro-scale flapping-wing robot mechanism claimed in claim 3, it is characterized in that: the other end of the 4th contiguous block (208) is cuboid, in two end faces that wherein area is less one is coplanar with the second flexible semi-ring (206) one side curved ends, another and described " recessed " shaped part are divided combination, in larger four faces of cuboid area one is tangent with the second flexible semi-ring (206), and three are positioned at the second flexible semi-ring (206) in addition.
6. by two-dimensional flapping micro-scale flapping-wing robot mechanism claimed in claim 2, it is characterized in that: described interior flexible tumbler (3) comprises the first flexible semi-ring (305) and head rod (303), wherein the two ends of the first flexible semi-ring (305) are respectively equipped with the first contiguous block (306) and the second contiguous block (307), the first contiguous block (306) has the first wing connecting bore (302) along its length, one end of described head rod (303) is connected with the first contiguous block (306), and the other end has the first connecting bore (304) that links to each other with first connecting rod (8); Have the first fuselage axis lever attachment hole (301) hinged with fuselage rotating shaft (6) and outer flexible tumbler (2) on described the second contiguous block (307).
7. by two-dimensional flapping micro-scale flapping-wing robot mechanism claimed in claim 6, it is characterized in that: described the first contiguous block (306) is cuboid, two end faces that wherein area is less are coplanar with the first flexible semi-ring (305) both sides curved end respectively, in larger four faces of cuboid area one is tangent with the first flexible semi-ring (305), and three are positioned at the first flexible semi-ring (305) in addition.
8. by two-dimensional flapping micro-scale flapping-wing robot mechanism claimed in claim 6, it is characterized in that: described the second contiguous block (307) is " L " shape, the lateral surface and the first flexible semi-ring (305) that are somebody's turn to do " L " shape are tangent, the top end face on a limit of " L " shape and the first flexible semi-ring (305) one side curved ends are coplanar, have the first fuselage axis lever attachment hole (301) on another limit of " L " shape.
9. by claim 1 or 2 described two-dimensional flapping micro-scale flapping-wing robot mechanisms, it is characterized in that: described transmission device is driving gear set (4), comprise the first～four gear, wherein the first gear is connected with the output axle key of motor (9), be installed in to the second gear and the 3rd gear coaxial rotation the below that fuselage (5) is upper, be positioned at the first gear, the second gear and the engagement of the first gear, the 4th gear is positioned at the below of the second gear and the 3rd gear, and the 4th gear is meshed with the 3rd gear; Be respectively equipped with one group of first connecting rod (8) and third connecting rod (12) in the both sides of the first～four gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110209613.2A CN102897322B (en) | 2011-07-25 | 2011-07-25 | Two-dimensional flutter miniature flapping flight robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110209613.2A CN102897322B (en) | 2011-07-25 | 2011-07-25 | Two-dimensional flutter miniature flapping flight robot mechanism |
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| Publication Number | Publication Date |
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| CN102897322A true CN102897322A (en) | 2013-01-30 |
| CN102897322B CN102897322B (en) | 2015-01-14 |
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| CN201110209613.2A Expired - Fee Related CN102897322B (en) | 2011-07-25 | 2011-07-25 | Two-dimensional flutter miniature flapping flight robot mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104477383A (en) * | 2014-12-02 | 2015-04-01 | 西北工业大学 | Three-dimensional flapping flapping-wing drive mechanism |
| CN111846220A (en) * | 2020-09-11 | 2020-10-30 | 仿翼(北京)科技有限公司 | Flapping wing aircraft |
| CN112693604A (en) * | 2021-01-31 | 2021-04-23 | 上海白林工业设计有限公司 | Bionic flapping wing aircraft |
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| US20050269447A1 (en) * | 2004-06-08 | 2005-12-08 | Chronister Nathan J | Ornithopter with independently controlled wings |
| WO2007066092A1 (en) * | 2005-12-06 | 2007-06-14 | Peter Logan Sinclair | Winged device |
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| CN101337582A (en) * | 2008-08-19 | 2009-01-07 | 宋兆会 | Manpower running type flapping-wing aircraft |
| KR20110057414A (en) * | 2009-11-24 | 2011-06-01 | 우병화 | Ornithopter |
| CN202226059U (en) * | 2011-07-25 | 2012-05-23 | 中国科学院沈阳自动化研究所 | Two-dimensional flapping micro-scale flapping-wing robot mechanism |
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| US20050269447A1 (en) * | 2004-06-08 | 2005-12-08 | Chronister Nathan J | Ornithopter with independently controlled wings |
| WO2007066092A1 (en) * | 2005-12-06 | 2007-06-14 | Peter Logan Sinclair | Winged device |
| US20070210207A1 (en) * | 2006-03-06 | 2007-09-13 | Wei-Hsiang Liao | Flying wing rotation mechanism of micro air vehicle |
| CN101337582A (en) * | 2008-08-19 | 2009-01-07 | 宋兆会 | Manpower running type flapping-wing aircraft |
| KR20110057414A (en) * | 2009-11-24 | 2011-06-01 | 우병화 | Ornithopter |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104477383A (en) * | 2014-12-02 | 2015-04-01 | 西北工业大学 | Three-dimensional flapping flapping-wing drive mechanism |
| CN104477383B (en) * | 2014-12-02 | 2017-04-26 | 西北工业大学 | Three-dimensional flapping flapping-wing drive mechanism |
| CN111846220A (en) * | 2020-09-11 | 2020-10-30 | 仿翼(北京)科技有限公司 | Flapping wing aircraft |
| CN111846220B (en) * | 2020-09-11 | 2021-01-08 | 仿翼(北京)科技有限公司 | Flapping wing aircraft |
| CN112693604A (en) * | 2021-01-31 | 2021-04-23 | 上海白林工业设计有限公司 | Bionic flapping wing aircraft |
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| Publication number | Publication date |
|---|---|
| CN102897322B (en) | 2015-01-14 |
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