CN102874409A - Flapping wing and turning device of micro aerial vehicle - Google Patents
Flapping wing and turning device of micro aerial vehicle Download PDFInfo
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- CN102874409A CN102874409A CN2012104279151A CN201210427915A CN102874409A CN 102874409 A CN102874409 A CN 102874409A CN 2012104279151 A CN2012104279151 A CN 2012104279151A CN 201210427915 A CN201210427915 A CN 201210427915A CN 102874409 A CN102874409 A CN 102874409A
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Abstract
The invention discloses a flapping wing and turning device of a micro aerial vehicle. The flapping wing and turning device comprises a flapping wing rocking rod, a round pin, a connecting plate, a driving motor, a connecting rod, an installing frame, a gear, a turning rod, a tail wing supporting plate, a turning motor, a swinging arm, a rotating component and a swinging frame, wherein the driving motor drives a first-grade pinion to rotate, and the first-grade pinion drives a double-layer gear to rotate, and the double-layer gear drives second-grade gears at two sides to rotate, and the second-grade gear drives the connecting rod to move, and the connecting rod drives a left wing connecting plate, a right wing connecting plate and a flapping wing rocking rod to swing up and down so as to achieve the flapping of the wing. The turning motor drives a rocking frame to rock, the rotating component in the rocking frame drives the rocking arm to rotate around the round pin, so that the angles of two turning rods are deviated, and as a result, the aerial vehicle can be turned. According to the flapping wing and turning device, the flapping wing and the turning device are integrated, so that the benefit is brought to the microminiaturization of the flapping wing aerial vehicle; and meanwhile, the flapping wing and turning device has the characteristics of being simple in structure, flexible and small.
Description
Technical field
The invention belongs to the minute vehicle design field, relate to a kind of minute vehicle flapping wing and steering hardware.
Background technology
Although form and the configurations of the flight such as natural insect, birds biology wing all are the flying methods that adopts flapping wing.Bionics and aerodynamic studies result show, during less than 15cm, flapping flight has more advantage than fixed-wing and rotor flying mode in the span.Flapping flight is compared with rotor flying with fixed-wing, has such as original place or little place to take off good flight maneuver and certain hovering performance, the characteristics such as the long-distance flight energy consumption is less.A kind of course of new aircraft that bionic flapping-wing flying vehicle is imitation birds and insect flying, manufacture and design based on bionics principle.Flapping wing aircraft has widely purposes, as militarily can be used for enemy's situation scouting, target tracking, electro countermeasure, trunking traffic, initiatively attack and defence etc.Can be used for such as environment and disaster surveillance, traffic route monitoring, agricultural exploration, aerial photography etc. civilian.
Flapping wing and steering hardware are that flapping wing aircraft can be realized normal flight and the key that turns to.Because the minute vehicle load-carrying capacity is limited, so except realizing flapping wing and handling maneuver, also flapping wing aircraft flapping wing and steering hardware are had the requirements such as lightweight, that efficient is high, performance is good.Present existing flapping wing and steering hardware, mostly complex structure, difficulty realization micro-miniaturisation.Therefore design a kind of simple in structurely, can realize that the micro device of flapping wing and turning function is particularly important.
Summary of the invention
The objective of the invention is the problem that exists in existing minute vehicle flapping wing and the steering hardware design, provide a kind of simple in structure, control is convenient, lower-cost minute vehicle flapping wing and steering hardware.
The technical solution used in the present invention is: a kind of minute vehicle flapping wing and steering hardware comprise flapping wing device and steering hardware;
Described flapping wing device comprises the flapping wing rocking bar, straight pin, connecting panel, drive motor, connecting rod, erecting frame, double-layer gear, big gear wheel and miniature gears, the both sides of described erecting frame are by symmetrical movable two connecting panels of installing of straight pin, the outer end of two connecting panels all is connected to the flapping wing rocking bar by straight pin, described drive motor is fixed on the erecting frame lower outside, drive motor links to each other with the one-level miniature gears, big gear wheel engagement in one-level miniature gears and the double-layer gear, the secondary big gear wheel engagement of the miniature gears in the double-layer gear and both sides, two secondary big gear wheels are connected with the lower end of two connecting rods respectively, and small end links to each other with two described connecting panels respectively;
Described steering hardware comprises deflecting bar, empennage stay bearing plate, steer motor, swing arm, tumbler and swing span, described empennage stay bearing plate front end is connected with erecting frame, the rear end is the plate that raises up, described deflecting bar is oval mast, the afterbody taper end is passed described swing arm two arm Correspondent cy linder holes, head is cylindrical drum, is enclosed within flapping wing rocking bar taper end; Described swing span bottom links to each other with the steer motor output shaft, and the middle part is arc-shaped slot, and the upper center vertical direction has rectangular through holes, and described tumbler is installed in the swing span slot; Described swing arm is the Y type, and two arm tops are cylindrical drum, entangle the deflecting bar taper end, and the lower end is cylindrical bar, passes the tumbler cylindrical hole, and the center is cylindrical drum, is enclosed within on the straight pin in the empennage stay bearing plate protruding plate, and swing arm can be rotated around straight pin;
A pair of film wing is separately fixed on two described flapping wing rocking bars and the described deflecting bar.
As preferably, described connecting panel is divided into left wing's connecting panel and right flank connecting panel, its left-wing connecting panel and erecting frame coupling end are U-shaped structure, right flank connecting panel and erecting frame coupling end are T-shaped structure, the connecting panel outer end links to each other with the flapping wing rocking bar, the inner is fixed in the erecting frame upper slot by straight pin, and the T-shaped structure of right flank connecting panel is positioned at the U-shaped structure of left wing's connecting panel.
As preferably, described flapping wing rocking bar is cylindrical stock, and an end that wherein is connected with connecting panel is slightly thin, and a taper end part is inserted corresponding the connection in the plate hole, and another part is used for driving the deflecting bar motion, and remainder is used for the fixed film wing.
As preferably, link to each other with connecting rod in the middle part of the described connecting panel.
As preferably, described empennage stay bearing plate front end is cross structure, inserts in the cross groove of corresponding erecting frame one side.
As preferably, described film wing is 1/4 circular configuration, and wherein a straight flange is fixed on the flapping wing rocking bar, and another straight flange is fixed on the deflecting bar.
Sized flap wings system adopts the double-reduction gear type of drive, when drive motor rotates, drive the one-level pinion rotation, the one-level miniature gears drives the big gear wheel of the double-layer gear of engagement and rotates, the miniature gears of double-layer gear drives the secondary big gear wheel of both sides engagement and rotates, the motion of secondary big gear wheel drivening rod, connecting rod drives left and right wing connecting panel and the flapping wing rocking bar swings up and down, thereby realizes fluttering of wing.When steer motor was rotated, steer motor drove swing span and swings, and tumbler drive swing arm is rotated around straight pin in the swing span, and two deflecting bar angles are deflected, and realizes turning to of aircraft.
Beneficial effect of the present invention:
1. the connection of flapping wing device and steering hardware is as a whole, is conducive to the micro-miniaturisation of flapping wing aircraft.Flapping wing and steering hardware are simple in structure, form member and mostly are gauge member, can be applicable to Flying bird toy and micro flapping wing air vehicle.
2. adopt quadric linkage to realize the flapping wing motion, kinematic pair is low minor face contact, and pressure is less, can bear larger load.Adopt the double-reduction gear type of drive, can realize higher transmitting ratio, be conducive to save the space and realize the flapping wing aircraft micro-miniaturisation.
3. turn to respect to the change of control empennage, turn by changing the easier realization wide-angle of the wing angle of attack.Steering hardware has flexibly small and exquisite, the characteristics such as control is simple, low cost of manufacture.
Description of drawings
Fig. 1 is minute vehicle flapping wing and steering hardware integral structure figure;
Fig. 2 is the sized flap wings system structural representation;
Fig. 3 is flapping wing rocking bar and Linkage steering connection diagram;
Fig. 4 is the steering swivel system constructional drawing;
Fig. 5 is steering swivel system major part connection diagram.
Among the figure: 1. flapping wing rocking bar; 2. straight pin; 3.1. left wing's connecting panel; 3.2. right flank connecting panel; 4. deflecting bar; 5. erecting frame; 6. drive motor; 7. swing arm; 8. empennage stay bearing plate; 9. steer motor; 10.1. double-layer gear; 10.2. big gear wheel; 10.3. miniature gears; 11. connecting rod; 12. tumbler; 13. swing span.
The specific embodiment
The present invention will be further described below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, a kind of minute vehicle flapping wing and steering hardware comprise flapping wing device and steering hardware.Flapping wing device comprises flapping wing rocking bar 1, straight pin 2, left wing's connecting panel 3.1, right flank connecting panel 3.2, erecting frame 5, drive motor 6, connecting rod 11, double-layer gear 10.1, big gear wheel 10.2 and miniature gears 10.3.Flapping wing rocking bar 1 is cylindrical stock, and an end that wherein is connected with connecting panel is slightly thin, is convenient to insert corresponding the connection in the plate hole, and flapping wing rocking bar 1 is used for fixedly wing, and the drive wing is fluttered.The end center that connecting panel is connected with flapping wing rocking bar 1 taper end and the outside and connecting rod 11 junctions all have aperture, connecting panel according to from different left wing's connecting panel 3.1 and the right flank connecting panels 3.2 of being divided into of erecting frame 5 coupling end structures, left side flapping wing rocking bar 1 taper end is inserted in left wing's connecting panel 3.1, and right side flapping wing rocking bar 1 taper end is inserted in the right flank connecting panel 3.2.As shown in Figure 2, left wing's connecting panel 3.1 is that with right flank connecting panel 3.2 differences left wing's connecting panel 3.1 is U-shaped structure with erecting frame 5 coupling ends, and right flank connecting panel 3.2 is T-shaped structure with erecting frame 5 coupling ends.During installation, two side connecting plates are fixed in erecting frame 5 upper slots by straight pin 2, and T-shaped structure is positioned at U-shaped structure.Erecting frame 5 is used for fixedly, and each parts of sized flap wings system also link to each other with steering swivel system by empennage stay bearing plate 8.
Because dc motor speed is larger, can't directly drive flapping wing mechanism, so sized flap wings system adopts the double-reduction gear type of drive.As shown in Figure 3, for alleviating erecting frame 5 weight and not affecting connecting rod 11 motions, erecting frame 5 bottoms are half open form structure, and both sides, erecting frame 5 bottom have aperture, are used for installing and fixing motor and gear; A side that is connected with empennage stay bearing plate 8 has cross groove, is used for installing and fixing empennage stay bearing plate 8.Drive motor 6 is fixed on erecting frame 5 lower outsides, and drive motor 6 output shafts link to each other with one-level miniature gears 10.3, and the motor leading portion is adhesively fixed on the erecting frame 5.Big gear wheel engagement in one-level miniature gears 10.3 and the double-layer gear 10.1, the miniature gears in the double-layer gear 10.1 and two secondary big gear wheels 10.2 engagements.Two secondary big gear wheel 10.2 same positions have aperture, and connecting rod 11 1 ends link to each other with secondary big gear wheel 10.2 by straight pin 2, and the other end is connected on left wing's connecting panel 3.1 or the right flank connecting panel 3.2 by straight pin 2.In installation process, 5 of gear and erecting frame 5, gear and connecting rod 11, connecting panel and erecting frames etc. all keep certain interval, guarantee that each member can realize the motion of setting.
For the left and right with identical aerodynamic characteristic, the wing lift that the angle of attack is large is large, and the wing lift that the angle of attack is little is little, and by changing the angle of attack of wing, it is poor to make left and right produce lift, makes the wing run-off the straight realize turning function.As shown in Figure 4, steering hardware comprises empennage stay bearing plate 8, deflecting bar 4, steer motor 9, swing arm 7, tumbler 12 and swing span 13.Wherein, empennage stay bearing plate 8 is cross with erecting frame 5 coupling ends, and during installation, empennage stay bearing plate 8 cross ends insert in the corresponding erecting frame 5 cross grooves; Empennage stay bearing plate 8 other ends are the plate that raises up, and are used for installing and fixing steering hardware.Empennage stay bearing plate 8 raised plate have different apertures, are used for fixed electrical machinery, swing arm 7 and swing span 13.Deflecting bar 4 is cylindrical stock, and the end that links to each other with swing arm 7 is slightly thin, is convenient to pass rocking arm two arm Correspondent cy linder holes; The end that links to each other with flapping wing rocking bar 1 is cylindrical sleeve, is enclosed within flapping wing rocking bar 1 taper end, and deflecting bar 4 cylindrical drum are entangled first flapping wing rocking bar 1 taper end during installation, and then flapping wing rocking bar 1 taper end is inserted and connected in the plate hole.Steer motor 9 is fixed in the empennage stay bearing plate 8 raised plate lower end circular holes.
As shown in Figure 5, swing span 13 bottoms link to each other with steer motor 9 output shafts, swing span 13 middle parts are arc-shaped slot, straight pin 2 passes arc-shaped slot and is fixed on empennage stay bearing plate 8 protruding plates, straight pin 2 can rotate along with the swing of swing span 13, thereby reduce the friction drag that runs into when swing span 13 swings, 2 location of straight pin and fixation.Swing span 13 upper center vertical directions have rectangular through holes, the thin cylinder that tumbler 12 protrudes by the rear and front end is installed in swing span 13 corresponding apertures, and can swing along with the swing of swing span 13, tumbler 12 self also rotates around swing span 13 central upper portion holes when swinging.Swing arm 7 is the Y type, and 7 liang of arms of swing arm are rectangular build, and two arm tops are cylindrical drum, entangle deflecting bar 4 taper ends, and swing arm 7 sleeve diameters when dwang is with 1 motion of flapping wing rocking bar like this, can not drive swing arm 7 motions greater than dwang taper end shank diameter; Swing arm 7 lower ends are cylindrical bar, insert in the tumbler 12.Tumbler 12 Circularhole diameters are a bit larger tham swing arm 7 lower end cylindrical bar diameters, can guarantee like this free motion of 7 of tumbler 12 and swing arms, also can guarantee not make swing arm 7 to lopsidedness because of both excessive clearances.Swing arm 7 centers are cylindrical drum, are enclosed within on the straight pin 2, and straight pin 2 is fixed in the circular hole of empennage bracing frame protruding plate upper end, between straight pin 2 and cylindrical hole without relative motion.The film wing is 1/4 circular configuration, and wherein a straight flange is fixed on the flapping wing rocking bar 1, and another straight flange is fixed on the deflecting bar 4.Deflecting bar 4 afterbodys tilt inwards, can reduce like this size of swing arm 7 and the spacing of left and right sides wing, increase the wing payload space.Whole steering swivel system is symmetrical structure.
This flapping wing and steering hardware form member and mostly are greatly Plastic Parts, have the characteristics such as size is little, lightweight.Can use as required adhesive means when installing and fixing, such as fixing etc. on stay bearing plate of drive motor 6.Because plastics have certain elasticity, can finish some conventional lower difficult installations that realize, such as the installation of tumbler 12 in swing span 13 etc.
Should be pointed out that for those skilled in the art under the prerequisite that does not break away from the principle of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.In the present embodiment not clear and definite each component part all available prior art realized.
Claims (6)
1. a minute vehicle flapping wing and steering hardware is characterized in that: comprise flapping wing device and steering hardware;
Described flapping wing device comprises the flapping wing rocking bar, straight pin, connecting panel, drive motor, connecting rod, erecting frame, double-layer gear, big gear wheel and miniature gears, the both sides of described erecting frame are by symmetrical movable two connecting panels of installing of straight pin, the outer end of two connecting panels all is connected with the flapping wing rocking bar by straight pin, described drive motor is fixed on the erecting frame lower outside, drive motor links to each other with the one-level miniature gears, big gear wheel engagement in one-level miniature gears and the double-layer gear, the secondary big gear wheel engagement of the miniature gears in the double-layer gear and both sides, two secondary big gear wheels are connected with the lower end of two connecting rods respectively, and small end links to each other with two described connecting panels respectively;
Described steering hardware comprises deflecting bar, empennage stay bearing plate, steer motor, swing arm, tumbler and swing span, described empennage stay bearing plate front end is connected with erecting frame, the rear end is the plate that raises up, described deflecting bar is oval mast, the afterbody taper end is passed described swing arm two arm Correspondent cy linder holes, head is cylindrical drum, is enclosed within flapping wing rocking bar taper end; Described swing span bottom links to each other with the steer motor output shaft, and the middle part is arc-shaped slot, and the upper center vertical direction has rectangular through holes, and described tumbler is installed in the swing span slot; Described swing arm is the Y type, and two arm tops are cylindrical drum, entangle the deflecting bar taper end, and the lower end is cylindrical bar, passes the tumbler cylindrical hole, and the center is cylindrical drum, is enclosed within on the straight pin in the empennage stay bearing plate protruding plate;
A pair of film wing is separately fixed on two described flapping wing rocking bars and the described deflecting bar.
2. minute vehicle flapping wing according to claim 1 and steering hardware, it is characterized in that: described connecting panel is divided into left wing's connecting panel and right flank connecting panel, its left-wing connecting panel and erecting frame coupling end are U-shaped structure, right flank connecting panel and erecting frame coupling end are T-shaped structure, the connecting panel outer end links to each other with the flapping wing rocking bar, the inner is fixed in the erecting frame upper slot by straight pin, and the T-shaped structure of right flank connecting panel is positioned at the U-shaped structure of left wing's connecting panel.
3. minute vehicle flapping wing according to claim 1 and steering hardware, it is characterized in that: described flapping wing rocking bar is cylindrical stock, and an end that wherein is connected with connecting panel is slightly thin, and a taper end part is inserted corresponding the connection in the plate hole.
4. minute vehicle flapping wing according to claim 1 and steering hardware is characterized in that: link to each other with connecting rod in the middle part of the described connecting panel.
5. minute vehicle flapping wing according to claim 1 and steering hardware, it is characterized in that: described empennage stay bearing plate front end is cross structure, inserts in the cross groove of corresponding erecting frame one side.
6. minute vehicle flapping wing according to claim 1 and steering hardware, it is characterized in that: described film wing is 1/4 circular configuration, and wherein a straight flange is fixed on the flapping wing rocking bar, and another straight flange is fixed on the deflecting bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104279151A CN102874409A (en) | 2012-10-30 | 2012-10-30 | Flapping wing and turning device of micro aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104279151A CN102874409A (en) | 2012-10-30 | 2012-10-30 | Flapping wing and turning device of micro aerial vehicle |
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| CN2012104279151A Pending CN102874409A (en) | 2012-10-30 | 2012-10-30 | Flapping wing and turning device of micro aerial vehicle |
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| CN103523221A (en) * | 2013-10-11 | 2014-01-22 | 南京航空航天大学 | Bionic aircraft with active torsion control |
| CN104276283A (en) * | 2013-07-12 | 2015-01-14 | 上海工程技术大学 | Large bird-imitating low-frequency ornithopter |
| CN104477391A (en) * | 2014-12-15 | 2015-04-01 | 佛山市神风航空科技有限公司 | Flat-flapping-wing flapping-wing aircraft |
| CN104477371A (en) * | 2014-12-05 | 2015-04-01 | 张立 | Supporting device for empennage of helicopter |
| CN104971505A (en) * | 2014-04-08 | 2015-10-14 | 李哲 | Bionic toy with multiple flapping wings |
| CN105015777A (en) * | 2015-08-10 | 2015-11-04 | 吴锜 | Ornithopter device of mirror symmetry type double-four-bar-linkage structure |
| CN106379532A (en) * | 2016-09-23 | 2017-02-08 | 北京航空航天大学 | Flapping-wing flapping angle changing mechanism |
| CN107891980A (en) * | 2017-10-26 | 2018-04-10 | 江苏大学 | A kind of four-degree-of-freedom flapping motion mechanism |
| CN108001680A (en) * | 2017-11-29 | 2018-05-08 | 北京航空航天大学 | A kind of multi-layer mini-type bionic flapping-wing flying vehicle |
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| JP2019511974A (en) * | 2017-01-23 | 2019-05-09 | トンクワン ユニバーシティ オブ テクノロジーＤｏｎｇｇｕａｎ Ｕｎｉｖｅｒｓｉｔｙ ｏｆ Ｔｅｃｈｎｏｌｏｇｙ | Autonomous micro-flying robot for pollination for agriculture |
| CN109835481A (en) * | 2017-11-29 | 2019-06-04 | 中国科学院沈阳自动化研究所 | A kind of flapping wing aircraft to be flown by aerofoil Deformation control |
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| CN110588970A (en) * | 2019-09-12 | 2019-12-20 | 北京科技大学 | Bionic flapping wing flying robot with deflectable driving mechanism |
| CN112124581A (en) * | 2020-09-03 | 2020-12-25 | 哈尔滨工业大学（深圳） | Flight control device and aircraft |
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| CN104276283A (en) * | 2013-07-12 | 2015-01-14 | 上海工程技术大学 | Large bird-imitating low-frequency ornithopter |
| CN104276283B (en) * | 2013-07-12 | 2016-08-24 | 上海工程技术大学 | A kind of imitative the large birds low frequency flapping wing aircraft |
| CN103523221A (en) * | 2013-10-11 | 2014-01-22 | 南京航空航天大学 | Bionic aircraft with active torsion control |
| CN103523221B (en) * | 2013-10-11 | 2015-11-18 | 南京航空航天大学 | With the bionic Aircraft that active twist controls |
| CN104971505A (en) * | 2014-04-08 | 2015-10-14 | 李哲 | Bionic toy with multiple flapping wings |
| CN104477371A (en) * | 2014-12-05 | 2015-04-01 | 张立 | Supporting device for empennage of helicopter |
| CN104477391A (en) * | 2014-12-15 | 2015-04-01 | 佛山市神风航空科技有限公司 | Flat-flapping-wing flapping-wing aircraft |
| CN105015777A (en) * | 2015-08-10 | 2015-11-04 | 吴锜 | Ornithopter device of mirror symmetry type double-four-bar-linkage structure |
| CN106379532A (en) * | 2016-09-23 | 2017-02-08 | 北京航空航天大学 | Flapping-wing flapping angle changing mechanism |
| JP2019511974A (en) * | 2017-01-23 | 2019-05-09 | トンクワン ユニバーシティ オブ テクノロジーＤｏｎｇｇｕａｎ Ｕｎｉｖｅｒｓｉｔｙ ｏｆ Ｔｅｃｈｎｏｌｏｇｙ | Autonomous micro-flying robot for pollination for agriculture |
| CN107891980A (en) * | 2017-10-26 | 2018-04-10 | 江苏大学 | A kind of four-degree-of-freedom flapping motion mechanism |
| CN109835481B (en) * | 2017-11-29 | 2021-09-28 | 中国科学院沈阳自动化研究所 | Flapping wing aircraft capable of controlling flight through wing surface deformation |
| CN109835481A (en) * | 2017-11-29 | 2019-06-04 | 中国科学院沈阳自动化研究所 | A kind of flapping wing aircraft to be flown by aerofoil Deformation control |
| CN108001680A (en) * | 2017-11-29 | 2018-05-08 | 北京航空航天大学 | A kind of multi-layer mini-type bionic flapping-wing flying vehicle |
| CN109018296A (en) * | 2018-08-23 | 2018-12-18 | 西安三翼航空科技有限公司 | A kind of movable tail structure |
| CN110127048A (en) * | 2019-04-29 | 2019-08-16 | 南京微谷子智能科技有限公司 | It is a kind of to rely on the flapping-wing aircraft and its working method for changing that center of gravity is turned to |
| CN110588970A (en) * | 2019-09-12 | 2019-12-20 | 北京科技大学 | Bionic flapping wing flying robot with deflectable driving mechanism |
| CN112124581B (en) * | 2020-09-03 | 2022-05-13 | 哈尔滨工业大学（深圳） | Flight control device and aircraft |
| CN112124581A (en) * | 2020-09-03 | 2020-12-25 | 哈尔滨工业大学（深圳） | Flight control device and aircraft |
| CN112498709A (en) * | 2020-11-30 | 2021-03-16 | 河海大学常州校区 | Transmission mechanism of flapping wing flying robot |
| CN113212749A (en) * | 2021-07-08 | 2021-08-06 | 北京科技大学 | Bionic butterfly flapping wing aircraft and stay-supported steering mechanism thereof |
| CN113212749B (en) * | 2021-07-08 | 2021-10-01 | 北京科技大学 | Bionic butterfly flapping wing aircraft and stay-supported steering mechanism thereof |
| US11613351B2 (en) | 2021-07-08 | 2023-03-28 | University Of Science And Technology Beijing | Butterfly-inspired flapping-wing aerial robot and pull cord type turning mechanism thereof |
| CN113978720A (en) * | 2021-12-07 | 2022-01-28 | 杭州电子科技大学 | Flapping wing aircraft capable of actively controlling wing pitch angle and application method thereof |
| CN114455045A (en) * | 2022-03-09 | 2022-05-10 | 哈尔滨工业大学 | Bionic ray swinging mechanism with same frequency and different amplitude pectoral fins |
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