CN107416202A - Micro flapping wing air vehicle - Google Patents
Micro flapping wing air vehicle Download PDFInfo
- Publication number
- CN107416202A CN107416202A CN201710541697.7A CN201710541697A CN107416202A CN 107416202 A CN107416202 A CN 107416202A CN 201710541697 A CN201710541697 A CN 201710541697A CN 107416202 A CN107416202 A CN 107416202A
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- wing
- gear
- frame
- spill spin
- spin block
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of micro flapping wing air vehicle, belongs to Bionic Flying Robot apparatus field.Including wing frame, flapping wing mechanism, reducing gear, wing, passive rotating mechanism, flapping wing mechanism includes connecting rod and wing frame, connecting rod and is connected to by pin on the gear of reducing gear, and both wings frame is connected with frame central and distinguishes both sides.Passive rotating mechanism includes spill spin block and pin, and pin is located on wing frame, and spill spin block is rotated with wing axis.Wing is connected on wing frame by passive rotating mechanism, and wing axis passes through wing frame aperture, and is connected with spill spin block.The gear of reducing gear is connected respectively to frame corresponding position, by minitype motor driving little gear, forms two reduction gear.The present invention has small volume, in light weight, energy consumption is small, the beating of wing and passive rotation can be realized simultaneously, advantageously in the flight of aircraft.
Description
Technical field
The present invention relates to a kind of microminiature flapping wing aircraft of imitative insect, belong to Bionic Flying Robot apparatus field.
Background technology
In nature, no matter birds or insect flight, be all to be carried out by flapping wing.It is this to be fluttered up and down by flapping wing
Flying method except that can provide larger thrust, improve outside flight efficiency, small aircraft can also realized more flexible
Flare maneuver.In recent years, as the rapid development of the technologies such as aerodynamics and MENS, minute vehicle have been developed as
A kind of course of new aircraft extensively paid close attention to both at home and abroad.Due to its small volume, be easy to carry, fly flexibly and good concealment etc. some
Advantage, therefore be all widely used prospect in civilian and national defence.And relative to fixed-wing, rotor craft and
Speech, flapping-wing type aircraft have without propeller or air jet system, can original place or small place quickly take off, accelerate, hovering etc. it is excellent
Point, accounted for also according to increasingly consequence in research field.
At military aspect, minute vehicle is mainly used in low-altitude reconnaissance, communication, the electricity task such as interference and air-to-ground attack.
Minute vehicle can be used for the details in city, mountain forest and battlefield forward position to scout, by the image spied out and information transmission to soldier
Monitor in hand, battle field information is provided in time and gives commander department, is greatly improved Operational Effectiveness Rat.
At civilian aspect, minute vehicle can be used for communication relay, Environmental Studies, the monitoring of natural calamity and support.It is micro-
Type aircraft can be additionally used in border patrol and be surveyed with control, drugs embargo, agricultural, and in following large-scale pasture and city monitoring etc.
By with wide market and application prospect.
The present Research of domestic and international micro flapping wing air vehicle：
At present, the design studies that many research institutions have been already in full swing for micro flapping wing air vehicle both at home and abroad.It is beautiful
Georgia technical research institute of state and univ cambridge uk have developed micro flapping wing air vehicle jointly using reciprocating chemical muscle
" Entomopter ", the flapping wing aircraft has two pairs of wings similar to butterfly's wing, compact-sized, has higher energy to turn
Change efficiency.California, USA university uses PZT piezoelectric actuators and double rocking lever quadric chain independent development mechanical grey
Fly " MFI ", it is possible to achieve the insectival significantly flapping wing vibration of class, vibration frequency therein are up to 150HZ.California Institute of Technology
Go out the first hand size in the world using micro motor for driving single crank double rocker mechanism joint research and development with aeronautical environment company
" micro- bat MicroBat ", its body skeleton and wing use new superpower composite to electronic flapping-wing aircraft, and wing uses MEMS
Technology is processed making.Harbin Institute of Technology is designed using elliptical cylinder cam drive mechanism and wing twist complete machine mechanism
Micro flapping wing air vehicle, reduce during being flutterred on wing negative lift effect, so as to improve flight performance.Due to current
The overall aimed quality of designed flapping wing aircraft all arrives several hectograms tens, and the lithium battery as main energy sources can not carry
Aircraft flight is supplied for enough energy, so needing flapping wing aircraft being miniaturized, lightweight.
The content of the invention
The invention aims to solve the defects of prior art, there is provided and a kind of small volume, in light weight, energy consumption is small,
It can realize that wing pats the new multiple degrees of freedom micro flapping wing air vehicle with rotation simultaneously.
A kind of micro flapping wing air vehicle, including frame, connecting rod, wing frame, spill spin block, wing, first gear, the second tooth
Wheel, the 3rd gear, the 4th gear and motor；
Motor is located at the center of frame, and the 3rd gear is coaxially disposed with the 4th gear, first gear, second gear, the 4th
Gear is located in frame, and two wing framves are connected with frame and respectively positioned at the both sides of frame；
First gear, second gear, the 3rd gear, the 4th gear form the motor of reducing gear, the 3rd gear and motor
Axis connection, the rotation of the gear of motor driven the 3rd, the 3rd gear drive the rotation of the 4th gear, carry out primary speed-down, the 4th gear point
Not Dai Dong first gear and second gear rotation, carry out double reduction；
First gear, second gear, connecting rod and wing frame form flapping wing mechanism, and flapping wing mechanism is dual-crank-rocker mechanism,
One end connection first gear of one connecting rod, the other end connect wing frame, form the crank of crank and rocker mechanism, another connecting rod
One end connection second gear, other end connection wing frame, form the rocking bar of crank and rocker mechanism；
Wing includes wing arteries and veins and ala, and ala is fixed on wing arteries and veins, and wing arteries and veins is provided with wing axis, and wing axis passes through wing frame
Spill spin block is connected, spill spin block is rotated with wing axis；
The wing axis of pin, spill spin block and wing forms passive rotating mechanism, and spill spin block is provided with projection, when wing rotates to
During special angle, pin blocks spill spin block.
The beneficial effects of the invention are as follows：
Compared with prior art, the present invention using double-crank double rocker mechanism as flapping wing mechanism, it is simple in construction to be easily achieved,
And the motion of two wings is easy to control, stability is high without phase difference.The present invention have also been devised passive rotating mechanism, it is possible to achieve fly
The rotation of wing during row, advantageously in the Self-adaptive flight of flapping wing aircraft.The integrated model choosing of this flapping wing aircraft
Select the minimum modules for the gear that can reach, the enough simple and compacts of structure so that integrally-built size is very small, weight also only
Have less than 10g, reached miniaturization, light-weighted purpose so that the flight of flapping wing aircraft is more flexible.
Brief description of the drawings
Fig. 1 is overall structure stereogram of the present invention；
Fig. 2 is wing wing kank composition of the present invention；
Fig. 3 is passive rotating mechanism mechanism map of the present invention；
Fig. 4 is reducing gear mechanism map of the present invention；
Fig. 5 is the structure chart of flapping wing mechanism of the present invention；
Fig. 6 is the overall structure figure of frame of the present invention；
Fig. 7 is the basic block diagram of first gear；
Fig. 8 is the structure chart of wing frame；
In figure：
1- frame 2- connecting rod 3- wing framves
4- spill spin block 5- wing 6- pins
The gears of 7- first gear 8- second gears 9- the 3rd
The gear 11- motor 12- pins of 10- the 4th
The first gear connecting hole of 1.1- wing frame aperture 1.2- motors hole 1.3
The pinion attachment holes of 1.4- second gear connecting holes 1.5- the 4th
3.1- connecting hole 3.2- rocking bar positioning hole 3.3- wings hole
5.1- offshoot 5.2- wing axis
7.1- fixing hole 7.2- crank positioning holes
Embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The present invention a kind of micro flapping wing air vehicle, as shown in figure 1, including frame 1, connecting rod 2, wing frame 3, spill spin block 4,
Wing 5, first gear 7, second gear 8, the 3rd gear 9, the 4th gear 10 and motor 11；
As shown in Fig. 1,4, the center of frame 1 is provided with motor 11, and motor 11 can use microminiature hollow-cup motor, motor
11 are driven by lithium battery or external power supply, and the power resources of micro flapping wing air vehicle are in motor 11；
Reducing gear of the present invention as shown in Figure 4, reducing gear include first gear 7, second gear 8, the 3rd tooth
Take turns the 9, the 4th gear 10.The wherein motor axis connection of the 3rd gear 9 and motor 11, the two is interference fit；Motor 11 drives the
Three gears 9 rotate, and the 3rd gear 9 then drives the 4th gear 10 to rotate, and carry out primary speed-down.4th gear 10 drives respectively
First gear 7 and second gear 8 rotate, and complete the double reduction of motor 11.
Flapping wing mechanism of the present invention as shown in Figure 5, flapping wing mechanism include first gear 7, second gear 8, the and of connecting rod 2
Wing frame 3, flapping wing mechanism are fixed on first using dual-crank-rocker mechanism, one end of one of connecting rod 2 by pin 6
In crank positioning hole 7.2 on gear 7, as shown in fig. 7, form the crank of crank and rocker mechanism, pin 6 and positioning hole 7.2 it
Between for gap coordinate, between pin 6 and tie rod holes also for gap coordinate；The other end of connecting rod 2 passes through pin 6 and wing frame 3
Rocking bar positioning hole 3.2 is connected, as shown in figure 8, the rocking bar of crank and rocker mechanism is formed, pin 6 and connecting rod 2 and rocking bar positioning hole
All coordinate between 3.2 for gap.By the design of crank positioning hole 7.2, connecting rod 2, the position of rocking bar positioning hole 3.2 and size, really
The angle range of rocking bar is made, is flapped the scope at angle so that it is determined that going out wing 5.
As shown in fig. 6, wing frame aperture 1.1, motor hole 1.2, first gear connecting hole 1.3, the second tooth are respectively equipped with frame 1
Take turns connecting hole 1.4, the 4th pinion attachment holes 1.5.There is strict size requirement between each hole in frame 1, to connect
All parts on to frame 1 can tightly coordinate.Wing frame aperture 1.1 passes through the connecting hole with two wing framves 3 respectively of pin 6
3.1 connections, it is interference fit between pin 6 and wing frame aperture 1.1；Motor hole 1.2 is used to fix motor 11, motor hole 1.2 and electricity
It is interference fit between machine 11；First gear connecting hole 1.3 is connected with the fixing hole 7.1 of first gear by pin 6, pin 6
It is interference fit between the connecting hole 1.3 of first gear 7；Second gear connecting hole 1.4 and the fixing hole 7.1 of second gear 8 are logical
Cross pin 6 to connect, be interference fit between pin 6 and first gear connecting hole 1.4；4th pinion attachment holes 1.5 and the 4th tooth
The fixing hole 7.1 of wheel 10 is connected by pin 6, is interference fit between pin 6 and first gear connecting hole 1.5.
Passive rotating mechanism of the present invention as shown in Figure 3, passive rotating mechanism include pin 12, spill spin block 4 and machine
Wing axle 5.2.As shown in figure 8, pin 12 is located at the certain position near the wing hole 3.3 of wing frame 3, the effect of pin 12 is
When wing 5 rotates to certain position, stop that wing 5 continues to rotate, prevent wing 5 from overturning excessive and losing lift.Wherein, such as
Fig. 2, shown in 3, coordinate between wing axis 5.2 and wing hole 3.3 for gap, wing axis 5.2 can freely revolve in wing hole 3.3
Turn.And be interference fit between wing axis 5.2 and spill spin block 4, spill spin block 4 follows wing 5 to rotate together.The both sides of spill spin block 4 are set
Two projections of fixed angle are determined, when wing 5 rotates to certain position, can have been blocked by pin 12.The angle of spill spin block 4 is set
The fixed excursion for just defining the angle of attack of wing 5 in rotary course of wing 5.In initial position, wing 5 is with certain angle of attack
Carry out beating flight, in flight course, wing 5 can according to the change of wind-force convert the angle of attack to adapt to state of flight, when turn
When changing to certain angle, spill spin block 4 will be blocked by the pin 12 on wing frame, and the angle of attack of wing 5 can not continue to become big, thus machine
Structure is controlled the passive rotation of wing 5.
As shown in figure 1, wing 5 includes wing arteries and veins and ala, ala uses polyimide film, is fixed on wing arteries and veins.Such as Fig. 2 institutes
Show the wing arteries and veins part of wing 5 of the present invention, this wing arteries and veins is chosen Allomyrina dichotoma wing and entered as bionical object, and to its wing
Row in shape imitated, by gathering the data point at wing edge, and carries out curve fitting, obtain needed for wing whole profile
Curve.This wing arteries and veins carries out integrated printing using carbon fiber 3D printer, provided with offshoot 5.1 and wing axis 5.2, wing axis 5.2
For fixed dimension, the wing hole 3.3 of wing axis 5.2 and wing frame 3 carried out between gap cooperation, and the hole of spill spin block 4
Interference fit.
Embodiment：
As shown in figure 1, a kind of micro flapping wing air vehicle, including for the part of wing 5 of flight and flapping wing mechanism, deceleration
Mechanism and passive rotating mechanism.Wherein the power resources of micro flapping wing air vehicle are hollow in the microminiature for being fixed on the center of frame 1
Cup motor 11, motor 11 are driven by lithium battery or external power supply.
As shown in Fig. 2 the wing arteries and veins part of wing 5 of the present invention.This wing arteries and veins chooses Allomyrina dichotoma wing as bionical
Object, and in shape imitated is carried out to its wing, by gathering the data point at wing edge, and carry out curve fitting, obtain
The whole appearance curve of required wing.This wing arteries and veins is printed using carbon fiber printer, and designs the wing of fixed dimension
Axle 5.2, it is connected with wing frame 3.
As shown in figure 3, passive rotating mechanism of the present invention.Passive rotating mechanism includes pin 12, spill spin block 4 and machine
Wing axle 5.2.The effect of pin 12 is when wing 5 rotates to certain position, stops that wing 5 continues to rotate, prevents wing 5 from overturning
It is excessive and lose lift, drop.Coordinate wherein between wing axis 5.2 and wing hole 3.3 for gap, wing axis 5.2 can be in machine
Rotated freely in foramen alare 3.3.And be interference fit between wing axis 5.2 and spill spin block 4, spill spin block 4 follows wing 5 to revolve together
Turn.The both sides of spill spin block 4 set two projections of fixed angle, when wing 5 rotates to certain position, can be blocked by pin 12.
The angle initialization of spill spin block 4 just defines the excursion of the angle of attack of wing 5 in rotary course of wing 5.In initial position, machine
The wing 5 carries out beating flight with certain angle of attack, and in flight course, wing 5 can convert the angle of attack with suitable according to the change of wind-force
State of flight is answered, when being transformed into certain angle, spill spin block 4 will be blocked by the pin 12 on wing frame 3, and the angle of attack of wing 5 is not
It can continue to become big, thus mechanism is controlled the passive rotation of wing 5.
Reducing gear of the present invention as shown in Figure 4.Reducing gear includes first gear 7 (driving wheel), second gear 8
(drive), the wherein gear 10 (right reduction gearing) of the 3rd gear (left reduction gearing) the 9, the 4th, driving wheel and hollow-cup motor
11 are connected, and the rotation of motor driven driving wheel, driving wheel then drives drive to rotate, and carries out primary speed-down.Drive is distinguished
Drive left reduction gearing to be rotated with right reduction gearing, and complete the double reduction of motor.
Flapping wing mechanism of the present invention as shown in Figure 5.This flapping wing mechanism includes left and right reduction gearing, connecting rod 2 and wing
Frame 3.Wherein the one end of connecting rod 2 is fixed in reduction gearing by pin 6, forms the crank of crank and rocker mechanism；The other end passes through
Pin 6 is affixed on wing frame 3, forms the rocking bar of crank and rocker mechanism.By crank, connecting rod, rocking bar size selection, it is determined that
Go out the angle range of rocking bar, so that it is determined that going out the scope at wing-beat angle.
Claims (6)
1. a kind of micro flapping wing air vehicle, including frame, connecting rod, wing frame, spill spin block, wing, first gear, second gear,
3rd gear, the 4th gear and motor；
Motor is located at the center of frame, and the 3rd gear is coaxially disposed with the 4th gear, first gear, second gear, the 4th gear
In frame, two wing framves are connected with frame and respectively positioned at the both sides of frame；
First gear, second gear, the 3rd gear, the 4th gear form the motor shaft company of reducing gear, the 3rd gear and motor
Connect, the gear of motor driven the 3rd rotation, the 3rd gear drives the rotation of the 4th gear, carries out primary speed-down, the 4th gear band respectively
Dynamic first gear and second gear rotation, carries out double reduction；
First gear, second gear, connecting rod and wing frame form flapping wing mechanism, and flapping wing mechanism is dual-crank-rocker mechanism, one
One end connection first gear of connecting rod, other end connection wing frame form the crank of crank and rocker mechanism, and the one of another connecting rod
End connection second gear, the other end connect wing frame, form the rocking bar of crank and rocker mechanism；
Wing includes wing arteries and veins and ala, and ala is fixed on wing arteries and veins, and wing arteries and veins is provided with wing axis, and wing axis connects through wing frame
Spill spin block, spill spin block are rotated with wing axis；
The wing axis of pin, spill spin block and wing forms passive rotating mechanism, and spill spin block is provided with projection, when wing rotate to it is specific
During angle, pin blocks spill spin block.
2. a kind of micro flapping wing air vehicle according to claim 1, in described flapping wing mechanism, first gear is provided with song
Handle positioning hole, second gear are provided with rocking bar positioning hole, by setting the length of connecting rod, crank positioning hole, rocking bar positioning hole
Position, determines the angle range of rocking bar, and then determines that wing is fluttered the scope at angle.
3. a kind of micro flapping wing air vehicle according to claim 1, in described passive rotating mechanism, pass through spill spin block
The anglec of rotation and then the excursion for determining wing angle of attack in rotary course.
4. a kind of micro flapping wing air vehicle according to claim 1, the ala in described wing uses polyimide film.
5. a kind of micro flapping wing air vehicle according to claim 1, the wing arteries and veins in described wing, using Allomyrina dichotoma
Wing is as bionical object.
6. a kind of micro flapping wing air vehicle according to claim 1, described wing arteries and veins is that carbon fiber 3D integrations are printed as
Type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710541697.7A CN107416202B (en) | 2017-07-05 | 2017-07-05 | Miniature flapping wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710541697.7A CN107416202B (en) | 2017-07-05 | 2017-07-05 | Miniature flapping wing aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107416202A true CN107416202A (en) | 2017-12-01 |
| CN107416202B CN107416202B (en) | 2020-11-10 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710541697.7A Active CN107416202B (en) | 2017-07-05 | 2017-07-05 | Miniature flapping wing aircraft |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108033008A (en) * | 2017-12-15 | 2018-05-15 | 佛山市神风航空科技有限公司 | One kind is herded with bionic mechanical bird and its flight control method |
| CN108248856A (en) * | 2018-01-02 | 2018-07-06 | 南京航空航天大学 | Double crank rocker is double to wing flapping wing aircraft and its method of work without difference |
| CN108750104A (en) * | 2018-04-17 | 2018-11-06 | 南京航空航天大学 | A kind of flapping wing aircraft of the adaptive active twist of wing |
| CN108820206A (en) * | 2018-05-08 | 2018-11-16 | 南京航空航天大学 | A kind of flapping wing aircraft that flake type wing area is variable |
| CN109050910A (en) * | 2018-07-17 | 2018-12-21 | 北京航空航天大学 | Bionic flying micro-robot based on crank rocker Yu passive rotating mechanism |
| CN109080829A (en) * | 2018-10-15 | 2018-12-25 | 南京航空航天大学 | A kind of micro flapping wing air vehicle based on flexible hinge |
| CN109353498A (en) * | 2018-12-04 | 2019-02-19 | 南京航空航天大学 | The wing of flapping wing aircraft |
| CN109533323A (en) * | 2018-11-15 | 2019-03-29 | 天津大学 | A kind of micro flapping wing air vehicle with single-degree-of-freedom flexible wing |
| CN109606675A (en) * | 2018-12-21 | 2019-04-12 | 北京航空航天大学 | A kind of bionic flying micro-robot based on single crank double rocker mechanism |
| CN110091988A (en) * | 2019-05-20 | 2019-08-06 | 浙江大学 | Imitative butterfly micro flapping wing air vehicle |
| CN110203388A (en) * | 2019-05-30 | 2019-09-06 | 北京工业大学 | A kind of double flapping wing aircrafts of miniature imitative dragonfly |
| CN110510118A (en) * | 2019-09-16 | 2019-11-29 | 北京交通大学 | A kind of bionical dragonfly robot of Dual-motors Driving |
| CN110562454A (en) * | 2019-08-29 | 2019-12-13 | 南京理工大学 | Bionic flapping wing aircraft |
| CN110588970A (en) * | 2019-09-12 | 2019-12-20 | 北京科技大学 | Bionic flapping wing flying robot with deflectable driving mechanism |
| CN111634414A (en) * | 2020-04-29 | 2020-09-08 | 南京航空航天大学 | Micro-miniature bionic flapping wing mechanism |
| CN112498709A (en) * | 2020-11-30 | 2021-03-16 | 河海大学常州校区 | Transmission mechanism of flapping wing flying robot |
| CN114394231A (en) * | 2022-01-24 | 2022-04-26 | 温州大学 | Bionic aircraft based on feather-like wings |
| CN114889821A (en) * | 2022-05-24 | 2022-08-12 | 深圳市人工智能与机器人研究院 | Four-wing flapping wing micro water surface aircraft and flight method |
| CN114906323A (en) * | 2022-06-07 | 2022-08-16 | 沈阳航空航天大学 | Multi-attitude flapping wing aircraft based on additional mass effect mechanism |
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| CN115817811A (en) * | 2022-11-21 | 2023-03-21 | 中国人民解放军陆军工程大学 | Bionic ornithopter for reconnaissance |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108033008A (en) * | 2017-12-15 | 2018-05-15 | 佛山市神风航空科技有限公司 | One kind is herded with bionic mechanical bird and its flight control method |
| CN108248856A (en) * | 2018-01-02 | 2018-07-06 | 南京航空航天大学 | Double crank rocker is double to wing flapping wing aircraft and its method of work without difference |
| CN108248856B (en) * | 2018-01-02 | 2020-11-06 | 南京航空航天大学 | Double-crank rocker phase-difference-free double-pair-wing flapping wing aircraft and working method thereof |
| CN108750104A (en) * | 2018-04-17 | 2018-11-06 | 南京航空航天大学 | A kind of flapping wing aircraft of the adaptive active twist of wing |
| CN108820206A (en) * | 2018-05-08 | 2018-11-16 | 南京航空航天大学 | A kind of flapping wing aircraft that flake type wing area is variable |
| CN109050910A (en) * | 2018-07-17 | 2018-12-21 | 北京航空航天大学 | Bionic flying micro-robot based on crank rocker Yu passive rotating mechanism |
| CN109080829A (en) * | 2018-10-15 | 2018-12-25 | 南京航空航天大学 | A kind of micro flapping wing air vehicle based on flexible hinge |
| CN109533323A (en) * | 2018-11-15 | 2019-03-29 | 天津大学 | A kind of micro flapping wing air vehicle with single-degree-of-freedom flexible wing |
| CN109533323B (en) * | 2018-11-15 | 2022-05-03 | 天津大学 | Miniature flapping wing aircraft with single-degree-of-freedom foldable wings |
| CN109353498A (en) * | 2018-12-04 | 2019-02-19 | 南京航空航天大学 | The wing of flapping wing aircraft |
| CN109606675A (en) * | 2018-12-21 | 2019-04-12 | 北京航空航天大学 | A kind of bionic flying micro-robot based on single crank double rocker mechanism |
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