CN106081104A - A kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV - Google Patents
A kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV Download PDFInfo
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- CN106081104A CN106081104A CN201610574891.0A CN201610574891A CN106081104A CN 106081104 A CN106081104 A CN 106081104A CN 201610574891 A CN201610574891 A CN 201610574891A CN 106081104 A CN106081104 A CN 106081104A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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Abstract
The invention provides a kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV, including: a piezoelectric actuator, integrated fuselage and drive mechanism, two wings, two passive torsion hinge, and supplementary structure；Piezoelectric actuator produces the of reciprocating vibration of cycle in the case of energising；The microvibration of piezoelectric actuator is amplified by drive mechanism, is converted into the beating campaign of two wings；The root of two wings is connected with a passive torsion hinge respectively, and under the effect of aerodynamic force and inertia force, two wings twist, thus produce the lift required for flight.Microreactor technology volume and weight of the present invention reaches insecticide yardstick；Between piezoelectric actuator and wing, devise the drive mechanism that a kind of flexible hinge amplifies, coordinate with piezoelectric actuator the altofrequency that can realize wing the most back and forth to pat motion；By drive mechanism and fuselage being designed to one, it is to avoid the assembling between drive mechanism and fuselage, substantially increase assembly precision.
Description
Technical field
The present invention relates to micro-processing technology field, in particular it relates to a kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV.
Background technology
Flapping-wing MAV is a kind of minute vehicle relying on wing compound movement to realize flight.Under large scale, one
As use motor to drive, using rigid link or gear-box as actuating device, be wing by the convert rotational motion of motor
Reciprocating beating is moved.But, along with reducing of yardstick, the impact of surface force can become more significantly relative to body force, electricity
Machine type of drive seems the heaviest and poor efficiency, and the kind of drive efficiency such as " axle " and " gear " in traditional mechanical structure is low, adds
Work difficulty is big.It is difficult to reduce further and realize " insecticide truly in insecticide yardstick, the size of motor of passing on Gong and weight
Yardstick ".
The domestic achievement that generation is certain in terms of the research of flapping-wing MAV.Publication No. 102815399A, application number
It it is the Chinese patent of 201210282453.9, it is provided that a kind of imitative hummingbird flapping-wing MAV.Publication No. 101934861A, Shen
It please number be the Chinese patent of 201010289254.1, it is provided that a kind of piezoelectric biomimetic micro flapping flight device.
But current flapping-wing MAV, such as the aircraft of aforementioned Publication No. 102815399A patent, uses motor
Driven gear group, it is achieved the beating campaign of a pair wing.The volume and weight of this aircraft is the biggest, is unfavorable for overcoming self
Gravity takes off, the adjustment of flight attitude also underaction.And the wing of this aircraft can not produce effective twist motion,
It is unfavorable for the generation of lift.Such as the aircraft of aforementioned Publication No. 101934861A patent, use the wing that piezoelectric ceramics makes,
In the case of energising, piezoelectric ceramics deforms thus realizes the beating campaign of piezoelectricity wing.Although this design can be real
Existing insecticide yardstick, but the deflection of piezoelectric ceramics is the least, on the premise of not having enlarger to help, the beating campaign of wing
Can be the least, it is unfavorable for the generation of lift；As the aircraft of Publication No. 102815399A patent, the wing of this aircraft
Effective twist motion can not be produced, be unfavorable for the generation of lift.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of insecticide yardstick micro-flight of Piezoelectric Driving flapping wing
Device, this aircraft volume and weight the most real flying insect (span is less than 5cm, and complete machine weight is less than 1g)；Pressure
Electric drive is operated in resonance state so that aircraft can use less energy to realize the longer cruise time；Aircraft
Wing can realize altofrequency and the most back and forth pat motion, twist motion can also be realized simultaneously, thus increase substantially
Aerodynamic lift.
For realizing object above, the present invention provides a kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV, including: a pressure
Electric drive, comprises the drive mechanism of fuselage, two wings, two passive torsion hinge, and supplementary structure；Wherein:
Described drive mechanism and described fuselage integrated molding, the tail end of described piezoelectric actuator is fixed on described fuselage
On, the head of described piezoelectric actuator is connected with described drive mechanism, one end of two described passive torsion hinge respectively with institute
Stating the root consolidation of wing, the other end of two described passive torsion hinge consolidates with described drive mechanism；Described supplementary structure
For fuselage is fixed, provide for whole microreactor technology and support；
Described microreactor technology using described piezoelectric actuator as power set, the reciprocal up-down vibration of described piezoelectric actuator,
Described drive mechanism is by the microvibration displacement equations of described piezoelectric actuator, and be converted into two wings back and forth pats motion；
By controlling driving voltage and the frequency of described piezoelectric actuator, the beating amplitude of two wings of regulation and beating frequency, and two
Individual wing is controlled by a described piezoelectric actuator, it is achieved symmetrical beating action；Microreactor technology is work under system resonance frequency
Make, it is achieved overcome self gravitation to take off.
Preferably, described piezoelectric actuator uses bi-morph piezo-electric driver；Piezoelectric actuator is with two panels piezoelectric ceramics
As deformation layer, one layer of carbon fiber as electrode layer, four-layer glass fiber as structure sheaf and insulating barrier, wherein: deformation layer divides
It is distributed in the upper and lower layer in the middle part of piezoelectric actuator；Electrode layer is distributed in the intermediate layer of piezoelectric actuator；Structure sheaf and insulating barrier distribution
In head and the tail end of piezoelectric actuator, insulate for carrying and with fuselage；And itself the containing of electrode layer, structure sheaf and insulating barrier
There is epoxide-resin glue, realize bonding for seven layer materials of deformation layer, electrode layer, structure sheaf and insulating barrier under High Temperature High Pressure effect
Together.
Preferably, the afterbody of described piezoelectric actuator is provided with hole, two location, for assembling with fuselage；Described piezoelectricity
The head of driver is very thin, for being inserted on drive mechanism in the square groove arranged.
It is highly preferred that the head of the afterbody of described piezoelectric actuator and piezoelectric actuator all uses glass fiber material,
Play and support and the effect of electric isolution；The centre of described piezoelectric actuator is the conductive layer using carbon fibre material.
Preferably, described drive mechanism uses plane four-bar linkage structure, and plane four-bar linkage structure includes connecting rod and hinge,
Wherein: connecting rod is made up of carbon fibre material；Hinge uses flexible hinge, and flexible hinge is by " carbon fiber-fexible film-carbon fiber "
Sandwich structure composition, volume is little, light weight, easily processing, transmission efficiency are high, presents the biggest advantage under little yardstick.
Preferably, the root of described wing is connected with drive mechanism by passive torsion hinge；At aerodynamic force and inertia
Under the effect of power, two wings realize twist motion with the help of two passive torsion hinge, thus it is required to produce flight
Lift.
Preferably, described wing is the artificial wing of a kind of imitative insecticide, by wing leading edge, vein and three parts of parachute
Composition, parachute is pasted onto on wing leading edge and vein；Wherein:
Described wing leading edge and vein all use the carbon fibre material of high-modulus, for improving the intensity of described wing with just
Degree；Described parachute uses ultra-thin polymeric membrane, to reduce the weight of described wing.
It is highly preferred that the layout of described wing leading edge and vein is all along the machine direction of carbon fiber, thus it is greatly improved
Described wing is in the rigidity of all directions and intensity.
Preferably, described passive torsion hinge uses flexible hinge, by the three of " carbon fiber-fexible film-carbon fiber "
Mingzhi's structure forms.
Preferably, described microreactor technology size belongs to insecticide yardstick, and the span of microreactor technology is less than 5cm, microreactor technology
Complete machine weight less than 1g.
Compared with prior art, the present invention has a following beneficial effect:
The present invention uses bi-morph piezo-electric driver to reach insecticide chi as driving means, microreactor technology volume and weight
Degree；Between bi-morph piezo-electric driver and wing, devise drive mechanism (being a kind of flexible hinge enlarger), with twin crystal
Sheet piezoelectric actuator coordinates the altofrequency that can realize wing the most back and forth to pat motion；Drive mechanism and fuselage are designed to one
The structure of body, it is to avoid assembling between minute yardstick lower transmission mechanism and fuselage, reduces rigging error, it is ensured that driver
The accuracy of structure characteristic size；The root of wing devises passive torsion hinge, under the effect of aerodynamic force and inertia force, and wing
Twist motion can be realized, thus be conducive to producing the lift required for flight.
Accompanying drawing explanation
By the detailed description non-limiting example made with reference to the following drawings of reading, the further feature of the present invention,
Purpose and advantage will become more apparent upon:
Fig. 1 is the integrally-built isometric drawing of one embodiment of the invention；
Fig. 2 is the isometric drawing of aircraft afterbody in one embodiment of the invention；
Fig. 3 is the isometric drawing of Vehicle nose in one embodiment of the invention；
Fig. 4 is the isometric drawing of piezoelectric actuator in one embodiment of the invention；
Fig. 5 is the sectional view of flexible hinge in one embodiment of the invention；
Fig. 6 is the front view of right wing in one embodiment of the invention；
In figure:
1 is piezoelectric actuator, and 2 is drive mechanism, and 3 is fuselage, and 4,5 is wing, and 6,7 is passive torsion hinge, 8,9,10,
11 is supplementary structure, and 12 is piezoelectric actuator tail end, and 13 is piezoelectric actuator head, and 14 is square hole, and 15 tie for plane double leval jib
Structure, 16,17,18 is flexible hinge, and 19,20 is piezoelectric ceramics, and 21 is carbon fiber, and 22,23,24,25 is glass fibre, and 26 is fixed
Hole, position, 27 is carbon fiber, and 28 is fexible film, and 29 is carbon fiber, and 30 is wing leading edge, and 31,32 is vein, and 33 is parachute, 34
For wing root.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in the technology of this area
Personnel are further appreciated by the present invention, but limit the present invention the most in any form.It should be pointed out that, the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into the present invention
Protection domain.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV, including: a Piezoelectric Driving
Device 1, a drive mechanism 2, fuselage 3, two wings 4,5, two passive torsion hinge 6,7, and supplementary structure 8,9,10,11,
Wherein:
Described drive mechanism 2 and described fuselage 3 integrated molding, thus avoid minute yardstick lower transmission mechanism 2 and fuselage 3
Between assembling, reduce rigging error, it is ensured that the accuracy of drive mechanism 2 characteristic size；Described piezoelectric actuator 1 passes through
Piezoelectric actuator tail end 12 is fixed on fuselage 3, and piezoelectric actuator 1 is set on drive mechanism 2 by piezoelectric actuator head 13
The square hole 14 put is connected；One end of passive torsion hinge 6,7 consolidates with wing 4,5 respectively, the other end of passive torsion hinge 6,7
It is consolidated in drive mechanism 2；Supplementary structure 8,9,10,11 is for fixing fuselage 3, thus provides for whole described microreactor technology and prop up
Support.
Described microreactor technology is using described piezoelectric actuator 1 as power set, and described piezoelectric actuator 1 back and forth shakes up and down
Dynamic, described drive mechanism 2, by the microvibration displacement equations of described piezoelectric actuator 1, is converted into the reciprocal bat of two wings 4,5
Play motion；By controlling driving voltage and the frequency of described piezoelectric actuator 1, regulate beating amplitude and the bat of two wings 4,5
Beat frequency, and two wings 4,5 are controlled by a described piezoelectric actuator 1, it is achieved symmetrical beating action；Microreactor technology is being
Altogether work under vibration frequency, it is achieved overcome self gravitation to take off.
As a preferred implementation, described drive mechanism 2 uses plane four-bar linkage structure 15, plane four-bar linkage structure 15
Hinge use flexible hinge 16.
As a preferred implementation, described passive torsion hinge 6,7 is respectively adopted flexible hinge 17,18.
As shown in Figure 4, for the isometric drawing of described piezoelectric actuator 1.Described piezoelectric actuator 1 drives for bi-morph piezo-electric
Dynamic device, using two panels piezoelectric ceramics 19,20 as deformation layer, one layer of carbon fiber 21 as electrode layer, four-layer glass fiber 22,23,
24,25 as structure sheaf and insulating barrier, wherein: described deformation layer is distributed in the levels in the middle part of piezoelectric actuator 1；Described electrode
Layer is distributed in the intermediate layer of piezoelectric actuator 1；Described structure sheaf and insulating barrier are distributed in head and the tail end of piezoelectric actuator 1,
For carrying and insulate with fuselage 3.Owing to carbon fiber 21 and glass fibre 22,23,24,25 itself contain epoxide-resin glue,
Under High Temperature High Pressure effect can by 19,20, one layer of carbon fiber 21 of two panels piezoelectric ceramics, the seven of four-layer glass fiber 22,23,24,25
Layer material bonds together.
Piezoelectric actuator tail end 12 is provided with hole 26, two location, for assembling with fuselage 3；Piezoelectric actuator head 13 compares
Very thin, piezoelectric actuator head 13 is inserted in the square hole 14 of drive mechanism 2, thus realizes the connection with drive mechanism 2；Described
Piezoelectric actuator tail end 12 and piezoelectric actuator head 13 all use glass fiber material, play and support and the effect of electric isolution.
As a preferred implementation, in described piezoelectric actuator 1:
Described piezoelectric ceramics 19,20, i.e. deformation layer use PZT-5H (PbZrTiO3) material；
Described carbon fiber 21, i.e. electrode layer use 40 microns of thick high modulus carbon fiber prepregs；
Described glass fibre 22,23,24,25, i.e. structure sheaf and insulating barrier use 120 microns of thick high-modulus glass fibers
Prepreg.
As it is shown in figure 5, for the sectional view of flexible hinge described in the present embodiment.Described flexible hinge 16,17,18 is by " carbon
Fiber 27-fexible film 28-carbon fiber 29 " sandwich structure composition, wherein:
Carbon fiber 27,29 is as rigid structural layer, and fexible film 28 is as plastic deformation layer.
As a preferred implementation, described carbon fiber 27,29 uses 60 microns or 80 microns thick high-modulus carbon fine
Dimension prepreg；Described fexible film 28 uses 7.5 microns of thick polyimide films.
As shown in Figure 6, for the front view (left wing 4 and right wing 5 symmetrical configuration) of wing right described in the present embodiment.Described
Wing 4,5 is by wing leading edge 30, vein 31,32 and parachute 33 3 part composition, and described parachute 33 is pasted onto described wing
On leading edge 30 and described vein 31,32；Wherein:
Described wing leading edge 30 and described vein 31,32 all use the carbon fibre material of high-modulus, and trend is all fine along carbon
The machine direction of dimension；Described parachute 33 uses ultra-thin polymeric membrane.
As a preferred implementation, in described wing 4,5:
Wing leading edge 30 and vein 31,32 all use 60 microns of thick high modulus carbon fiber prepregs；
Parachute 33 uses 1.5 microns of thick polyester film material.
The weight of described wing 4,5 is respectively less than 1 milligram.
In the present embodiment, described wing 4,5 is connected with passive torsion hinge 6,7 respectively by wing root 34.
During System Operation, access certain frequency and the sinusoidal offset signal of amplitude, by dual pathways drive power supply for piezoelectric ceramics
Signal is carried out power amplification so that piezoelectric actuator 1 produces mechanical vibration；By adjusting the range-adjusting wing 4,5 of signal
Beating amplitude, find the resonant frequency point of system by the frequency adjusting signal, now system resonates, wing 4,5 bat
Beat amplitude and can reach maximum；While wing 4,5 is patted at a high speed, under the effect of passive torsion hinge 6,7, wing 4,5
Raw twist motion, produces the lift required for flight.
The volume and weight of microreactor technology described in the present embodiment the most real flying insect (span is less than 5cm,
Complete machine weight is less than 1g)；Piezoelectric actuator 1 is operated in resonance state so that described microreactor technology can use less energy
Realize the longer cruise time；The wing 4,5 of described microreactor technology can realize altofrequency and the most back and forth pat motion, with
Time can also realize twist motion, thus increase substantially aerodynamic lift.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims, this not shadow
Ring the flesh and blood of the present invention.
Claims (10)
1. an insecticide yardstick Piezoelectric Driving flapping-wing MAV, it is characterised in that including: a piezoelectric actuator, comprise machine
The drive mechanism of body, two wings, two passive torsion hinge, and supplementary structure；Wherein:
Described drive mechanism and described fuselage integrated molding, the tail end of described piezoelectric actuator is fixed on described fuselage, institute
The head stating piezoelectric actuator is connected with described drive mechanism, one end of two described passive torsion hinge respectively with described wing
Root consolidation, the other end of two described passive torsion hinge and described drive mechanism consolidate；Described supplementary structure is used for will
Fuselage is fixed, and provides for whole microreactor technology and supports；
Described microreactor technology using described piezoelectric actuator as power set, the reciprocal up-down vibration of described piezoelectric actuator, described
Drive mechanism is by the microvibration displacement equations of described piezoelectric actuator, and be converted into two wings back and forth pats motion；Pass through
Control driving voltage and the frequency of described piezoelectric actuator, the beating amplitude of two wings of regulation and beating frequency, and two wings
Wing is controlled by a described piezoelectric actuator, it is achieved symmetrical beating action；Microreactor technology works under system resonance frequency, real
Self gravitation is now overcome to take off.
A kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV the most according to claim 1, it is characterised in that described pressure
Electric drive uses bi-morph piezo-electric driver；Piezoelectric actuator is made using two panels piezoelectric ceramics as deformation layer, one layer of carbon fiber
For electrode layer, four-layer glass fiber as structure sheaf and insulating barrier, wherein: deformation layer be distributed in the middle part of piezoelectric actuator upper,
Lower floor；Electrode layer is distributed in the intermediate layer of piezoelectric actuator；Structure sheaf and insulating barrier are distributed in head and the tail of piezoelectric actuator
End, insulate for carrying and with fuselage；And the own of electrode layer, structure sheaf and insulating barrier contains epoxide-resin glue, high at high temperature
Realize under pressure effect bonding together seven layer materials of deformation layer, electrode layer, structure sheaf and insulating barrier.
A kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV the most according to claim 1, it is characterised in that described pressure
The afterbody of electric drive is provided with hole, two location, for assembling with fuselage；The head of described piezoelectric actuator is very thin, is used for inserting
Enter on drive mechanism in the square groove arranged.
A kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV the most according to claim 3, it is characterised in that described pressure
The afterbody of electric drive and the head of piezoelectric actuator all use glass fiber material, play and support and the effect of electric isolution；Institute
The centre of the piezoelectric actuator stated is the conductive layer using carbon fibre material.
A kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV the most according to claim 1, it is characterised in that described biography
Motivation structure uses plane four-bar linkage structure, and plane four-bar linkage structure includes connecting rod and hinge, wherein: connecting rod is by carbon fibre material structure
Become；Hinge uses flexible hinge, and flexible hinge is made up of the sandwich structure of " carbon fiber-fexible film-carbon fiber ".
A kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV the most according to claim 1, it is characterised in that just accessing one
String offset signal, is carried out power amplification by dual pathways drive power supply for piezoelectric ceramics to signal so that piezoelectric actuator produces machinery
Vibration；By adjusting the beating amplitude of the range-adjusting wing of signal, found the resonance frequency of system by the frequency adjusting signal
Rate point, now system resonates, and wing is patted amplitude and reached maximum；While wing is patted at a high speed, described wing
Root is connected with drive mechanism by passive torsion hinge, and under the effect of aerodynamic force and inertia force, two wings are at two quilts
Realize twist motion with the help of dynamic torsion hinge, thus produce the lift required for flight.
A kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV the most according to claim 6, it is characterised in that described wing
Wing is the artificial wing of a kind of imitative insecticide, is made up of wing leading edge, vein and three parts of parachute, and parachute is pasted onto wing leading edge
With on vein；Wherein: described wing leading edge and vein all use the carbon fibre material of high-modulus, for improving the strong of described wing
Degree and rigidity；Described parachute uses ultra-thin polymeric membrane, to reduce the weight of described wing.
A kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV the most according to claim 7, it is characterised in that described wing
Wing leading edge and vein arrange all along the machine direction of carbon fiber, thus be greatly improved described wing all directions rigidity with
Intensity.
9. according to a kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV described in any one of claim 1-8, it is characterised in that
Described passive torsion hinge uses flexible hinge, is made up of the sandwich structure of " carbon fiber-fexible film-carbon fiber ".
10., according to a kind of insecticide yardstick Piezoelectric Driving flapping-wing MAV described in any one of claim 1-8, its feature exists
In, described microreactor technology size belongs to insecticide yardstick, and the span of microreactor technology is less than 5cm, and the complete machine weight of microreactor technology is little
In 1g.
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Cited By (13)
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| CN106160565A (en) * | 2016-08-17 | 2016-11-23 | 上海交通大学 | High-precision micro linear electric motors based on Piezoelectric Driving |
| CN106230310A (en) * | 2016-08-17 | 2016-12-14 | 上海交通大学 | High-precision micro electric rotating machine based on Piezoelectric Driving |
| CN107902086A (en) * | 2017-10-25 | 2018-04-13 | 西安交通大学 | It is a kind of that rotor craft and driving method are flutterred based on Piezoelectric Driving |
| CN108163194A (en) * | 2017-12-25 | 2018-06-15 | 南京航空航天大学 | Microminiature piezoelectricity bionic flapping-wing flying vehicle |
| CN108674649A (en) * | 2018-04-19 | 2018-10-19 | 东南大学 | A kind of piezoelectric type micro flapping wing air vehicle and its transmission mechanism processing method |
| CN109050911A (en) * | 2018-07-24 | 2018-12-21 | 东南大学 | A kind of processing method of multiple degrees of freedom driving type piezoelectric actuator micro flapping wing air vehicle and its transmission mechanism |
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| CN110143278A (en) * | 2018-10-09 | 2019-08-20 | 宁波大学 | The bionic flapping-wing machine people of flexible piezoelectric fiber driving |
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| CN106230310A (en) * | 2016-08-17 | 2016-12-14 | 上海交通大学 | High-precision micro electric rotating machine based on Piezoelectric Driving |
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| CN109050911A (en) * | 2018-07-24 | 2018-12-21 | 东南大学 | A kind of processing method of multiple degrees of freedom driving type piezoelectric actuator micro flapping wing air vehicle and its transmission mechanism |
| CN110143278B (en) * | 2018-10-09 | 2022-03-15 | 宁波大学 | Bionic flapping wing robot driven by flexible piezoelectric fibers |
| CN110143278A (en) * | 2018-10-09 | 2019-08-20 | 宁波大学 | The bionic flapping-wing machine people of flexible piezoelectric fiber driving |
| 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 |
| CN109398696A (en) * | 2018-10-17 | 2019-03-01 | 东南大学 | Angle adjustable microreactor technology and its method for processing and assembling based on piezoelectric bimorph wing |
| CN112635696A (en) * | 2020-12-22 | 2021-04-09 | 合肥维信诺科技有限公司 | Packaging device and packaging method thereof |
| CN113328651A (en) * | 2021-07-14 | 2021-08-31 | 中国人民解放军国防科技大学 | Deformation scale based on piezoelectric drive and deformation method |
| CN113799981A (en) * | 2021-09-16 | 2021-12-17 | 西北工业大学太仓长三角研究院 | Flapping wing device for dragonfly-simulated flapping wing aircraft |
| CN113799981B (en) * | 2021-09-16 | 2023-07-18 | 西北工业大学太仓长三角研究院 | Flapping wing device 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 |
| CN115649437A (en) * | 2022-11-16 | 2023-01-31 | 西北工业大学 | Distributed flexibility type flapping wing aircraft and design method of flapping wing driving mechanism |
| 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 |
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