CN103708033B - Decline flapping wing aircraft based on two Piezoelectric Driving devices of flexible hinge - Google Patents
Decline flapping wing aircraft based on two Piezoelectric Driving devices of flexible hinge Download PDFInfo
- Publication number
- CN103708033B CN103708033B CN201310719532.6A CN201310719532A CN103708033B CN 103708033 B CN103708033 B CN 103708033B CN 201310719532 A CN201310719532 A CN 201310719532A CN 103708033 B CN103708033 B CN 103708033B
- Authority
- CN
- China
- Prior art keywords
- wing
- transmission rig
- aircraft
- flexible hinge
- decline
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The present invention discloses a kind of two driving type piezoelectric actuator micro air vehicle with flapping-wing based on flexible hinge, comprise: two curved beam formula bi-morph piezo-electric driving mechanisms, the transmission rig of two cover centrosymmetry distributions, surrounds the outside framework of aircraft periphery, and the wing structure that two comprise passive torsion hinge. Curved beam formula bi-morph piezo-electric driving mechanism produces bending under voltage drive, drives wing motion by transmission rig, and then produces the power needed for aircraft movements. This structure utilizes laser microdissection to cut technology and flexible hinge mode of connection realizes the processing of micro air vehicle with flapping-wing and the manufacture of span 3cm. Mechanism is simple for structure compact, and two driving mechanisms control both wings respectively and aircraft is realized except outstanding other motions flown except flying with straight line become possibility.
Description
Technical field
What the present invention relates to is the device of a kind of minute vehicle technical field, specifically a kind of two driving type piezoelectric actuator micro air vehicle with flapping-wing based on flexible hinge.
Background technology
Micro-flapping-wing type aircraft is that one is different from the fixing wing and rotor aircraft, then imitates birds or insect, adopts the complicated motion of wing to realize the minute vehicle of flight. In recent years along with the development of science and technology, microreactor technology (MAV) is becoming the research focus of scientific and technological circle. Especially the processing and manufacturing of the aircraft developing into microsize of MEMS technology provides possibility. U.S. national defense Advanced Study Project office proposes microreactor technology basic index: the size of aircraft is less than 15cm, and weight is between 10g to 100g, and the flight time is 20-60min, and flight velocity is 25-70km/h. Micro-flapping-wing type aircraft has the incomparable motor-driven and aeroperformance of general aircraft, its volume is little, light weight, having more advantage under little space, it is well disguised that small size also provides self, has very wide application prospect in military, civilian. Therefore microreactor technology has become the focus of scientific and technological circle's research.
Producing certain achievement in the research of micro-flapping-wing type aircraft abroad, some flapping-wing MAVs have realized flight.
The flapping wing aircraft of Purdue University, the span only 11.4 centimetres, adopts micro motor formula driving mechanism, heavy 2.61g, it is achieved that along the upwards flight of wire.
Publication number is 102328744A, application number is the Chinese patent of 201110223769.6, it provides a kind of electromagnetic drive type flapping-wing MAV based on flexible hinge.
And for the imitative elder brother's formula aircraft under span 3cm yardstick, or publication number is that 102328744A patent adopts electromagnetic type type of drive as previously, due to the impact of scale effect, the power output that cannot provide very big reaches flight performance, and certain distortion of the type of drive Structure of need wherein adopted, output rating can be reduced by storage of potential energy; Or as Purdue University adopts traditional type of drive, the impact of small scale lower surface power strengthens, and cannot realize normal transmission, can only make yardstick larger aircraft; Or an only degree of freedom, cannot tackle complicated air-flow environment, carry out changeable flight gesture stability.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of two driving type piezoelectric actuator micro air vehicle with flapping-wing based on flexible hinge, this Flight Vehicle Structure concision and compact, two driving mechanisms control two wings respectively and aircraft are realized except outstanding other motions flown except flying with one direction become possibility. The present invention utilizes laser microdissection to cut technology and flexible hinge mode of connection realizes the processing of micro air vehicle with flapping-wing and the manufacture of span 3cm.
The present invention is achieved by the following technical solutions, and the present invention comprises: two curved beam formula bi-morph piezo-electric driving mechanisms, the transmission rig of two cover centrosymmetry distributions, fuselage outside framework and two wings; Wherein: described transmission rig is a double leval jib transmission rig, and the inboardend of transmission rig is connected with fuselage outside framework; The two ends of described curved beam formula bi-morph piezo-electric driving mechanism are respectively a wide limit and a narrow limit, and wherein said narrow limit is connected with transmission rig and as the input connecting rod of transmission rig, described wide limit is connected with fuselage outside framework; Two wings are connected with the output terminal of transmission rig by the passive torsion hinge of wing root; Outside framework circumaviate device is peripheral, the cross bar in transmission rig and two curved beam formula bi-morph piezo-electric driving mechanism roots is linked together, and forms the stationary links in four-bar mechanism; Two curved beam formula bi-morph piezo-electric driving mechanisms produce bending under voltage drive, drive transmission rig motion, and transmission rig is connected to the wing of output terminal by passing to after motion amplification, produce to pat motion; Wing, under interacting with air, produces the rotation of wing by passive torsion hinge; These two kinds of motions of wing combine and produce lift needed for aircraft movements and forward thrust.
Described Bicrystal junction formula Piezoelectric Driving device, comprises the piezoelectric ceramics layer (i.e. piezoelectric ceramic piece) of two layers of active movement and the carbon fiber layer of one layer of passive motion, and one in order to increase output displacement add rigidity extension. Upper and lower two layers of this driving mechanism is the piezoelectric ceramic piece of isosceles-trapezium-shaped, and middle layer is carbon fiber. It is connected with trapezoidal narrow limit along trapezoidal high direction and extends the elongated end of glass fibre. During use, the wide limit of driving mechanism and fuselage outside framework are fixed, all the other structures are unsettled, form beam type structure, and not identical elongation occurs respectively upper and lower two panels piezoelectric ceramic piece under impressed voltage effect, cause the bending of whole beam type structure, realize the output of displacement at beam end.
The principle of work of the present invention is: the driving mechanism of use is Bicrystal junction formula Piezoelectric Driving device, not identical elongation is there is respectively in upper and lower two panels piezoelectric ceramics under impressed voltage effect, cause the bending of whole beam type structure, realize the output of displacement at beam end. The structure of aircraft adopts common four-bar linkage structure, but the connecting rod of input terminus is replaced as Bicrystal junction formula Piezoelectric Driving device by the present invention, it is achieved the double leval jib transmission rig that flexible beam (i.e. Bicrystal junction formula Piezoelectric Driving device) participates in. And in the output terminal attachment of double leval jib transmission rig wing structure, whole double leval jib transmission rig transmits and is exaggerated the corner of Bicrystal junction formula Piezoelectric Driving device, it is achieved fluttering of wing wide-angle. The hard and soft mixed drive mechanism being made up of such two cover Piezoelectric Driving devices and linkage assembly in aircraft controls the motion of two wings respectively. By the corner size, central position and the frequency that regulate both wings to flutter, it is possible to realize complicated space motion. The junction of wing and transmission rig also has a passive torsion hinge so that wing realizes passive torsion in the process of fluttering under pneumatic moment loading, forms the angle of attack produced needed for lift.
Compared with prior art, the present invention has following useful effect:
The present invention compared with existing flapping wing aircraft, not only compact structure, the span only 3cm; And compared with domestic and international small span flapping wing aircraft, be also with the obvious advantage: the structure of two driving mechanisms is compared with the aircraft of an external driving mechanism, and the driving degree of freedom gone out must realize more complicated motion more; Even if compared with the structure being multiple driving mechanism abroad equally, type of drive is also have advantage using driving mechanism itself as the part in transmission rig, compact construction, alleviate the quality of the additional structure needed for being connected with driving mechanism by transmission rig, decrease the loss of energy in intermediate structure.
Accompanying drawing explanation
By reading with reference to the detailed description that non-limiting example is done by the following drawings, the other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is one-piece construction isometric drawing of the present invention.
Fig. 2 is activation configuration isometric drawing of the present invention.
Fig. 3 is the isometric drawing of transmission rig of the present invention.
Fig. 4 is transmission rig vertical view of the present invention.
Fig. 5 is the transmission principle figure of the present invention.
Fig. 6 is the rear view of the left wing of the present invention.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail. The technician contributing to this area is understood the present invention by following examples further, but does not limit the present invention in any form. It should be appreciated that to those skilled in the art, without departing from the inventive concept of the premise, it is also possible to make some distortion and improvement. These all belong to protection scope of the present invention.
As shown in Figure 1, this example comprises: front Bicrystal junction formula Piezoelectric Driving device 1, rear Bicrystal junction formula Piezoelectric Driving device 2, transmission rig 3, right wing 4, left wing 5, outside framework 6. Front Bicrystal junction formula Piezoelectric Driving device 1, rear Bicrystal junction formula Piezoelectric Driving device 2 are symmetrical centered by cruciform connecting rod 17; Transmission rig 3 is double leval jib transmission rig; Described front Bicrystal junction formula Piezoelectric Driving device 1 is connected with connecting rod 14 with the connecting rod 11 of transmission structure 3 respectively with front Bicrystal junction formula Piezoelectric Driving device 2; Right wing 4 is connected with connecting rod 16 with the connecting rod 13 of transmission rig respectively with left wing 5; Outside framework 6, around all mechanisms, is connected with the wide limit of rear Bicrystal junction formula Piezoelectric Driving device 2 with described front Bicrystal junction formula Piezoelectric Driving device 1, is connected with the cruciform connecting rod 17 of transmission rig simultaneously.
As shown in Figure 2, described front Bicrystal junction formula Piezoelectric Driving device 1 and front Bicrystal junction formula Piezoelectric Driving device 2 are three stackings and close girder construction: wherein middle layer 9 is carbon fiber layer; Upper and lower double-layer structure is identical, is all bonded in carbon fiber layer two sides by glass fibre extension 7 and trapezoidal piezoelectric ceramics sheet 8 and forms. The glass fibre extension 7 of separation and trapezoidal piezoelectric ceramics sheet 8 are linked together by articulamentum 10. Upper and lower two trapezoidal piezoelectric ceramics sheets 8 produce the differently strained of x direction in Fig. 2 under external voltage effect, thus cause that driving mechanism entirety produces around y-axis direction bending, for driving outer section load. Activation configuration achieves the once amplification that the micro-displacement of piezoelectricity sheet is converted to superimposed beam large rotation angle. Described front Bicrystal junction formula Piezoelectric Driving device 1 and front Bicrystal junction formula Piezoelectric Driving device 2 control two wings in left and right respectively, and two driving mechanism conllinear distributions when equilibrium theory of tide, balance position of centre of gravity, make fuselage that undesired upset not easily occur.
As shown in Figure 3, described transmission rig 3 is made up of (as previously mentioned, Piezoelectric Driving device is using as four-bar linkage structure supplements complete key structure) the two imperfect four-bar mechanisms of cover, shares cruciform connecting rod 17 as inboardend. Wherein connecting rod 11, connecting rod 12, U shape connecting rod 13 is the dynamic shaft portion of a set of double leval jib; Connecting rod 14, connecting rod 15, U shape connecting rod 16 is the dynamic shaft portion of another cover double leval jib. And cruciform connecting rod 17 is connected along two projections in the direction of y shown in Fig. 3 are bonding with outside framework 6.
As shown in Figure 4, described transmission rig 3, is formed after in fact folding by a plane three-decker. Wherein central core is flexible materials Kapton, is whole piece film; Levels is patterned carbon fiber layer. The figure of carbon fiber is that the figure after three layer planes determines according to the tiling of required three-dimensional structure (such as Fig. 3). Wherein the position of connecting rod needs carbon fiber, and needs to excise carbon fibre material as bending flexible structure place in flexible hinge, vacates specific width (width is by the hinge torsional stiffness of design and prevents the fatigue stress lost efficacy from determining).
Described U shape connecting rod 13 and 16, by three connecting rods adjacent, that connect by flexible hinge, locks what dead right angle portions was formed with instant drying adhesive after folding.
Described transmission rig entirety is rendered as " s " type, and two sets of transmission mechanism are integrated on the same cruciform connecting rod 17 as inboardend.
As shown in Figure 5, the transmission principle of the present invention is two lanar four rod mechanisms not interfereing with each other, and drives two wings of aircraft respectively. Owing to principle is identical, part on the left of two straight line in main analysis chart 5 here. Driving mechanism tail point A place glueds joint with fuselage outside framework 6 phase, is equivalent to the ground terminal in connecting rod. Point D place U shape connecting rod is connected with cruciform connecting rod, is also equivalent to ground terminal. Compared with common four-bar linkage structure, difference is only the connecting rod AB of input terminus: first, and this connecting rod is a flexible beam that can bend, and leans on the flexibility of beam self instead of rotation pair to realize rotatably mounted degree; Secondly, this connecting rod inherently driving mechanism, namely as the actuator unit of four-bar linkage structure and input power of transmission rig naturally with in order to integrally, this is also save space under microscale, and the demand alleviating weight makes so. BC bar afterwards, CD bar is all be made up of the carbon fibre material of high-modulus, is equivalent to rigid link structure, between be connected to form by flexible membrane rotate secondary. Two bar structures not only realize gearing, and the Small angle of driving mechanism also rotates the large rotation angle being enlarged into wing.
As shown in Figure 6, described wing (i.e. right wing 4, left wing 5) is made up of passive torsion structure 18, vein 19 and parachute 20. Passive torsion structure 18 is formed by a trapezoid block, a rectangular block and the gap between trapezoid block and rectangular block, the gap formed provides the degree of freedom of the passive torsion of wing as flexible hinge, with the interaction of air under be similar to the rotation around x-axis in Fig. 6 of insect, form wing and flutter the angle of attack in process. Parachute is pasted onto on vein, is shaped under laser cutting by polyimide film. Vein material can be metallic substance, is pasted onto on the rectangular block of passive torsion structure 18 as in Fig. 6. Vein can also adopt carbon fibre material, so just consistent with the material of passive torsion structure 18, it is possible to the structure of being made of one. Insect wing shape looks statistics rule according to foreign literature, the outline of parachute obeys the relevant function of functions of beta function:
In formula (1)For normalized wing chord length (based on mean chord length),For normalized wing expanse is to length (based on wing overall length), B (p, q) is beta function:
In formula (2), p, q are respectively:
In formulaIt is respectively a rank moment of area and the long-pending square of dual terrace surface of wing.
Described outside framework 6 is formed by stacking by three-decker, and middle flexible layer material is polyimide, and both sides rigid material is patterned carbon fiber, rigid structure needed for formation and flexible hinge. Afterwards that superimposed good two dimensional structure is bending fixing along flexible hinge, formed outside framework structure (as the label 6 in Fig. 1 refer to structure).
The vein of described wing structure is carbon fiber or metallic substance, and parachute is polyester film or polyimide film.
Described front Bicrystal junction formula Piezoelectric Driving device 1 and front Bicrystal junction formula Piezoelectric Driving device 2 are the three-decker of " PZT piezoelectric ceramics-carbon fiber-PZT piezoelectric ceramics ", and elongated end is that glass fibre clips carbon fibre material.
Described outside framework 6 surrounds aircraft one week, as rigidity supporting structure, it is also possible to arrange the sensor needed for aircraft automatic control flight above, signal pilot circuit, the structures such as portable power.
Described fuselage outside framework, double leval jib transmission rig, wing are shaping by laser cutting carbon fiber and polyimide material, then are built up desired structure by the vacuum bag technique of multilayer material.
Described Bicrystal junction formula Piezoelectric Driving device is that the carbon fiber shaping by laser cutting and piezoelectric ceramics are formed by stacking through vacuum bag technique.
Above specific embodiments of the invention are described. It is understood that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect the flesh and blood of the present invention.
Claims (8)
1. the two Piezoelectric Driving devices based on flexible hinge decline flapping wing aircraft, it is characterised in that, comprising: two curved beam formula bi-morph piezo-electric driving mechanisms, the transmission rig of two cover centrosymmetry distributions, fuselage outside framework and two wings; Wherein: described transmission rig is a double leval jib transmission rig, and the inboardend of transmission rig is connected with fuselage outside framework; The two ends of described curved beam formula bi-morph piezo-electric driving mechanism are respectively a wide limit and a narrow limit, and wherein said narrow limit is connected with transmission rig and as the input connecting rod of transmission rig, described wide limit is connected with fuselage outside framework; Two wings are connected with the output terminal of transmission rig by the passive torsion hinge of wing root; Outside framework circumaviate device is peripheral, the cross bar in transmission rig and two curved beam formula bi-morph piezo-electric driving mechanism roots is linked together, and forms the stationary links in four-bar mechanism; Described transmission rig is " s " type, and two sets of transmission mechanism are integrated on the same cruciform connecting rod as inboardend; Two curved beam formula bi-morph piezo-electric driving mechanisms produce bending under voltage drive, drive transmission rig motion, and transmission rig is connected to the wing of output terminal by passing to after motion amplification, produce to pat motion; Wing, under interacting with air, produces the rotation of wing by passive torsion hinge; These two kinds of motions of wing combine and produce lift needed for aircraft movements and forward thrust.
2. the two Piezoelectric Driving devices based on flexible hinge according to claim 1 decline flapping wing aircraft, it is characterized in that: described curved beam formula bi-morph piezo-electric driving mechanism, comprise the piezoelectric ceramics layer of two layers of active movement and the carbon fiber layer of one layer of passive motion, and one in order to increase output displacement add rigidity extension, upper and lower two layers of this driving mechanism is the piezoelectric ceramic piece of isosceles-trapezium-shaped, middle layer is carbon fiber, is connected with trapezoidal narrow limit along trapezoidal high direction and extends the elongated end of glass fibre; During use, the wide limit of driving mechanism and fuselage outside framework are fixed, all the other structures are unsettled, form beam type structure, and not identical elongation occurs respectively upper and lower two panels piezoelectric ceramic piece under impressed voltage effect, cause the bending of whole beam type structure, realize the output of displacement at beam end.
3. two Piezoelectric Driving devices based on flexible hinge according to the arbitrary item of claim 1-2 decline flapping wing aircraft, it is characterized in that: two described curved beam formula bi-morph piezo-electric driving mechanisms control two wings in left and right respectively, two curved beam formula bi-morph piezo-electric driving mechanism conllinear distributions when equilibrium theory of tide.
4. two Piezoelectric Driving devices based on flexible hinge according to the arbitrary item of claim 1-2 decline flapping wing aircraft, it is characterized in that: described outside framework, transmission rig is all be formed by stacking by three-decker, and middle flexible layer material is polyimide, and both sides rigid material is carbon fiber.
5. the two Piezoelectric Driving devices based on flexible hinge according to claim 4 decline flapping wing aircraft, it is characterized in that: described outside framework surrounds aircraft one week as rigidity supporting structure, the sensor needed for aircraft automatic control flight is arranged above it, signal pilot circuit, portable power structure.
6. the two Piezoelectric Driving devices based on flexible hinge according to claim 1 decline flapping wing aircraft, it is characterised in that: the vein of described wing is carbon fiber or metallic substance, and parachute is polyester film or polyimide film.
7. the two Piezoelectric Driving devices based on flexible hinge according to claim 6 decline flapping wing aircraft, it is characterized in that: the parachute outline on described wing obeys the relevant function of functions of beta function, and the flexible hinge of wing root provides the degree of freedom of the passive torsion of wing.
8. the two Piezoelectric Driving devices based on flexible hinge according to claim 1 decline flapping wing aircraft, it is characterised in that: described aircraft span is less than 3cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310719532.6A CN103708033B (en) | 2013-12-23 | 2013-12-23 | Decline flapping wing aircraft based on two Piezoelectric Driving devices of flexible hinge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310719532.6A CN103708033B (en) | 2013-12-23 | 2013-12-23 | Decline flapping wing aircraft based on two Piezoelectric Driving devices of flexible hinge |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103708033A CN103708033A (en) | 2014-04-09 |
| CN103708033B true CN103708033B (en) | 2016-06-01 |
Family
ID=50401460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310719532.6A Active CN103708033B (en) | 2013-12-23 | 2013-12-23 | Decline flapping wing aircraft based on two Piezoelectric Driving devices of flexible hinge |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103708033B (en) |
Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104485034B (en) * | 2014-12-28 | 2017-03-08 | 上海电机学院 | The wing fills aircraft simulation device |
| CN105151299B (en) * | 2015-09-28 | 2018-03-09 | 北京航空航天大学 | A kind of wing twist mechanism for lifting flapping flight lift |
| CN105366050B (en) * | 2015-11-24 | 2017-12-26 | 成都迈科高技术开发有限责任公司 | A kind of piezoelectric type imitates dragonfly micro flapping wing air vehicle |
| CN106114098B (en) * | 2016-07-05 | 2019-12-13 | 上海交通大学 | Pond-strider-imitating piezoelectric drive type ultramicro flapping-wing amphibious robot |
| CN106081104B (en) * | 2016-07-20 | 2019-10-08 | 上海交通大学 | A kind of insect scale Piezoelectric Driving flapping-wing MAV |
| CN106184744B (en) * | 2016-08-04 | 2018-06-26 | 北京航空航天大学 | A kind of manufacturing method of the bionical Insect wings of light-high-strength |
| CN106230310A (en) * | 2016-08-17 | 2016-12-14 | 上海交通大学 | High-precision micro electric rotating machine based on Piezoelectric Driving |
| CN106160565A (en) * | 2016-08-17 | 2016-11-23 | 上海交通大学 | High-precision micro linear electric motors based on Piezoelectric Driving |
| JP6895153B2 (en) * | 2016-09-12 | 2021-06-30 | 国立大学法人九州工業大学 | Flapping mechanism |
| CN106564595B (en) * | 2016-11-01 | 2019-04-05 | 北京理工大学 | For the miniature Piezoelectric Driving enlarger for flutterring rotor craft and its design method |
| CN107902085B (en) * | 2017-10-12 | 2021-09-17 | 沈海锋 | Wing driving mechanism of aircraft |
| CN107765134B (en) * | 2017-10-24 | 2023-11-14 | 深圳供电局有限公司 | Method for carrying out live test on lightning arrester of power transmission line and unmanned aerial vehicle |
| CN108674649B (en) * | 2018-04-19 | 2021-11-26 | 东南大学 | Piezoelectric type micro flapping wing aircraft and transmission mechanism processing method thereof |
| CN109050911B (en) * | 2018-07-24 | 2020-03-31 | 东南大学 | Multi-degree-of-freedom piezoelectric driving type micro flapping wing aircraft and machining method of transmission mechanism thereof |
| CN109398696B (en) * | 2018-10-17 | 2020-03-31 | 东南大学 | Angle-adjustable micro aircraft based on piezoelectric bimorph wings and machining and assembling method thereof |
| CN111319774A (en) * | 2018-12-13 | 2020-06-23 | 研能科技股份有限公司 | Power driver of unmanned aerial vehicle |
| CN110723286A (en) * | 2019-11-26 | 2020-01-24 | 赵小清 | Array wing flight device and application thereof |
| CN113799980B (en) * | 2021-09-16 | 2023-07-14 | 西北工业大学太仓长三角研究院 | Double-wing driving mechanism for dragonfly-imitating flapping-wing aircraft |
| CN114180055A (en) * | 2021-12-17 | 2022-03-15 | 北京航天测控技术有限公司 | Piezoelectric driving type micro flapping wing aircraft and flight control method |
| CN115649437B (en) * | 2022-11-16 | 2024-05-03 | 西北工业大学 | Design method of distributed flexibility type flapping wing aircraft and flapping wing driving mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6082671A (en) * | 1998-04-17 | 2000-07-04 | Georgia Tech Research Corporation | Entomopter and method for using same |
| CN101934861A (en) * | 2010-09-22 | 2011-01-05 | 上海交通大学 | Piezoelectric biomimetic micro flapping flight device |
| CN102328744A (en) * | 2011-08-05 | 2012-01-25 | 上海交通大学 | Electromagnetically-driven flapping wing type micro aircraft based on flexible hinges |
| CN103274049A (en) * | 2013-05-08 | 2013-09-04 | 上海交通大学 | Electromagnetic drive insect-like flapping-wing micro air vehicle |
| CN103395493A (en) * | 2013-07-19 | 2013-11-20 | 北京理工大学 | Piezoelectric ceramic flapping-wing-type robot |
-
2013
- 2013-12-23 CN CN201310719532.6A patent/CN103708033B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6082671A (en) * | 1998-04-17 | 2000-07-04 | Georgia Tech Research Corporation | Entomopter and method for using same |
| CN101934861A (en) * | 2010-09-22 | 2011-01-05 | 上海交通大学 | Piezoelectric biomimetic micro flapping flight device |
| CN102328744A (en) * | 2011-08-05 | 2012-01-25 | 上海交通大学 | Electromagnetically-driven flapping wing type micro aircraft based on flexible hinges |
| CN103274049A (en) * | 2013-05-08 | 2013-09-04 | 上海交通大学 | Electromagnetic drive insect-like flapping-wing micro air vehicle |
| CN103395493A (en) * | 2013-07-19 | 2013-11-20 | 北京理工大学 | Piezoelectric ceramic flapping-wing-type robot |
Non-Patent Citations (1)
| Title |
|---|
| 超微仿生扑翼飞行器压电双晶驱动器仿真与优化;谭小波等;《上海交通大学学报》;20121128;第46卷(第11期);第1852-1856页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103708033A (en) | 2014-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103708033B (en) | Decline flapping wing aircraft based on two Piezoelectric Driving devices of flexible hinge | |
| Whitney et al. | Conceptual design of flapping-wing micro air vehicles | |
| CN103708032B (en) | Two electromagnetic drive type micro air vehicle with flapping-wing | |
| CN102328744B (en) | Electromagnetically-driven flapping wing type micro aircraft based on flexible hinges | |
| US8991769B2 (en) | Two-dimensional morphing structure for wing | |
| CN103274049B (en) | Electromagnetic drive type imitates insect flapping-wing MAV | |
| US20110278391A1 (en) | Dragonfly unmanned aerial vehicle | |
| CN109533323B (en) | Miniature flapping wing aircraft with single-degree-of-freedom foldable wings | |
| JP2015168429A (en) | Wing, method for constructing wing, and method for changing shape of wing | |
| Bishay et al. | Development of an SMA-based camber morphing UAV tail core design | |
| RU2010105910A (en) | DEVICE THAT IS EXPOSED TO A FLUID FLOW | |
| CN109835481B (en) | Flapping wing aircraft capable of controlling flight through wing surface deformation | |
| CN105217031A (en) | A kind of micro air vehicle with flapping-wing based on fans drive | |
| Bolsman et al. | Design overview of a resonant wing actuation mechanism for application in flapping wing MAVs | |
| TWI572526B (en) | Miniature aircraft wings drive structure | |
| CN100467347C (en) | Two segmented type wings of minitype ornithopter | |
| CN109050911B (en) | Multi-degree-of-freedom piezoelectric driving type micro flapping wing aircraft and machining method of transmission mechanism thereof | |
| Bhushan et al. | Design of the first sub-milligram flapping wing aerial vehicle | |
| CN108639337B (en) | Single-degree-of-freedom flapping wing mechanism capable of realizing space motion trail | |
| CN212195899U (en) | Miniature flapping wing device capable of realizing large flapping amplitude | |
| CN108674649A (en) | A kind of piezoelectric type micro flapping wing air vehicle and its transmission mechanism processing method | |
| Sicard et al. | Experimental study of an extremely flexible rotor for microhelicopters | |
| Beker et al. | Design of a novel foldable flapping wing micro air vehicle | |
| CN108163194B (en) | Microminiature piezoelectric bionic flapping wing aircraft | |
| CN114872895A (en) | Foldable composite flapping wing structure for miniature flapping wing aircraft and preparation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |