CN105197121A - Multi-degree-of-freedom bionic mechanism - Google Patents
Multi-degree-of-freedom bionic mechanism Download PDFInfo
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- CN105197121A CN105197121A CN201510659485.XA CN201510659485A CN105197121A CN 105197121 A CN105197121 A CN 105197121A CN 201510659485 A CN201510659485 A CN 201510659485A CN 105197121 A CN105197121 A CN 105197121A
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- arm
- turning cylinder
- gear
- lower shake
- drive motor
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Abstract
A multi-degree-of-freedom bionic mechanism comprises a connection mechanism body and vibrating wings. The vibrating wings are connected with a rotary arm of the mechanical body. The connection mechanism body comprises a gear drive motor, a driving gear, a driven gear, guide rails, a rotary shaft, a rotary box and the rotary arm. The driven gear is installed on the rotary shaft through a driven gear linear bearing. The driving gear is connected with the gear drive motor, the gear drive motor drives the driving gear to rotate, and the driven gear is meshed with the driving gear and is driven to rotate through the driving gear. The four guide rails are welded to the driven gear and connected with the rotary box. The rotary arm is connected with the rotary box through pins. When the driven gear rotates, the rotary box can be driven to rotate, and meanwhile the rotary arm rotates along with the rotary box. The driving gear and the driven gear continuously rotate and can drive the rotary arm to rotate by 360 degrees forwards and reversely, and accordingly the vibrating wings are synchronously driven to rotate. The bionic mechanism is simple in structure and convenient to install and can rotate by 360 degrees continuously forwards and reversely, and the swing amplitude can be conveniently adjusted.
Description
Technical field
The present invention relates to robot and industrial automation, particularly relate to a kind of multiple degree of freedom bio-mechanism, this mechanism is applicable to realize rotating freely of the multiple dimension of robot, and is used for making the key position of the bio-robot such as wing of dragonfly, birds.
Background technology
Robot is a frontier nature research topic having challenging multi-crossed disciplines, develops very fast in recent years.Robot can complete some as tasks such as military affairs investigation, high-altitude shooting, nuclear pollution region specimen samplings.Alerting ability is high, degree of freedom is large, overall dimensions is little, structural compactness is good, the feature of light quality particularly to require it to have for the robot of military domain, and these requirements have great challenge to the design of robot.In robot, the research and development of multiple-degree-of-freedom mechanism will determine the overall performance of robot, and be that in whole robot system, development difficulty is maximum, therefore design light, multiple-degree-of-freedom mechanism is extremely important flexibly.
Summary of the invention
The object of this invention is to provide a kind of multiple degree of freedom bio-mechanism, this mechanism can be used for the motion of simulated animal wing, such as can simulate the swing of dragonfly wing, the vibration of birds wing, and the degree of freedom that the freedom of motion that can provide has than animal itself is more.This mechanism be a kind of can multiple degree of freedom rotate, several bio-mechanisms that degree is mobile, speed range is adjustable, this mechanism can be used in bio-robot and industry mechanical arm.This invention has great alerting ability and freedom, aloft can the rotation of 360 degree.This invention simultaneously has features such as realizing simply, convenient.
Technical scheme of the present invention is:
A kind of multiple degree of freedom bio-mechanism, for ensure the running of this mechanism need use three independently motor be respectively: gear drive motor, turning cylinder drive motor and lower shake-changing arm drive motor.The structure composition of this device mainly comprises bindiny mechanism's body and oscillating airfoil, described oscillating airfoil is connected with the swivel arm of mechanism body, described bindiny mechanism body comprises gear drive motor, driving gear, driven gear, guide rail, turning cylinder, rotate casing and swivel arm, described driven gear is installed on the rotating shaft by driven gear linear bearing, described driving gear is connected with gear drive motor, gear drive motor drives driving gear to rotate, described driven gear engages with driving gear and by driving gear driven rotary, driven gear welds four guide rails, four guide rails are connected with rotation casing, described swivel arm is while be the frame-shaped structure of opening, two support arms adjacent with the opening edge of swivel arm are connected with rotation casing by pin, the rotation of rotating casing can be driven when driven gear rotates, swivel arm also and then rotates together simultaneously.The continuity of driving gear and driven gear is rotated, swivel arm can be driven to realize rotation that the rotation of positive and negative 360 degree and then the Timing Belt oscillating airfoil be automatically connected on swivel arm realize positive and negative 360 degree;
Described turning cylinder is directly connected by coupler with turning cylinder drive motor, turning cylinder and the equidirectional rotation of turning cylinder drive motor when turning cylinder drive motor rotates.Two swing locating dowel pins parallel to each other are provided with between two support arms adjacent with the opening edge of swivel arm, the front end of turning cylinder is stretched into two and is swung between locating dowel pin, when turning cylinder rotates, the front end of turning cylinder swings between locating dowel pin at two and swings, owing to swinging locating dowel pin, there is certain curvature, swivel arm can be made to form the swing of certain amplitude.
The rear end of described turning cylinder is provided with rear side housing, lower shake-changing arm, pull bar and upper rocker arm, one end of described lower shake-changing arm is connected with lower shake-changing arm drive motor, the other end of described lower shake-changing arm is connected with one end of upper rocker arm by pull bar, the other end of described upper rocker arm is connected with rear side housing, described lower shake-changing arm, pull bar, a four-bar linkage is formed between upper rocker arm and rear side housing, described upper rocker arm is also connected with an axis of guide, the turning cylinder in described rear side housing front is provided with displacement disc, the end face of the other end of the described axis of guide is connected by plane-plane contact with between displacement disc, the area surface that displacement disc contacts with guiding axial plane is an inclined-plane, when lower shake-changing arm starts to rotate under the drive of lower shake-changing arm drive motor, upper rocker arm and lower shake-changing arm synchronous axial system.When upper rocker arm rotates, the axis of guide synchronous axial system be connected with upper rocker arm, promotes displacement disc and starts to move to the direction away from rear side housing when lower shake-changing arm moves from lower to upper; When lower shake-changing arm moves from top to bottom, the be under pressure effect of spring of displacement disc starts to move to the direction near rear side housing;
Described displacement disc and rear end linear bearing link together, rear end linear bearing together with displacement disc to equidirectional movement, rear end linear bearing is connected with thrust axle sleeve, and thrust axle sleeve is connected with front end linear bearing, and the rear end of front end linear bearing and pressure spring fits.Be interference fit between front end linear bearing and rotation casing, ensure that in motion process, front end linear bearing and pressure spring are synchronized with the movement, front end and the front end cover of pressure spring fit together, front end cover is fixing on the rotating shaft, the straight-line motion produced by displacement disc is delivered on swivel arm, swivel arm produces the motion identical with displacement disc, and in this motion process, pressure spring is compacted.If swivel arm is to left movement, make to swing locating dowel pin and more contact at deep camber place with turning cylinder, the amplitude of so rotating can become large.If in like manner lower shake-changing arm moves downward, so upper rocker arm and lower shake-changing arm synchronous axial system, pressure spring by compression promotes to rotate casing and moves left, and so the wobble amplitude of swivel arm diminishes.Therefore the effect regulating wobble amplitude is played.
Upper rocker arm in the present invention is connected with the axis of guide, when lower shake-changing arm receives the driving from lower shake-changing arm drive motor, this moves through pull bar and is delivered to upper rocker arm, and the axis of guide that upper rocker arm connects follows lower shake-changing arm to rotate together, is the contact of a kind of point and point between the axis of guide and displacement disc.The Contact of displacement disc and the axis of guide be an inclined-plane, the axis of guide moves along the direction of turning cylinder when can promote displacement disc when rotating, be connected by linear bearing between displacement disc with rotation casing, the straight-line motion that displacement disc produces is delivered on swivel arm, swivel arm produces the motion identical with displacement disc, can the amplitude of fluctuation of regulating rotary swing arm when displacement disc moves.Turning cylinder is directly connected with turning cylinder drive motor, and the velocity of rotation of turning cylinder drive motor can determine the rotative speed of turning cylinder, also just can control the frequency that swivel arm swings.
Beneficial effect of the present invention:
1, whole apparatus structure of the present invention is simple, quality is little, implementation easy for installation is simple;
2, the reliability of this device is high;
3, apparatus of the present invention can produce continuity both forward and reverse directions 360 degree rotation;
4, the present invention can realize the adjustment of swivel arm rotational steps by the rotation of rocking arm.
Accompanying drawing explanation
Fig. 1 is the normal axomometric drawing after mechanism of the present invention connection body is connected with oscillating airfoil;
Fig. 2 is the front view of Fig. 1;
Fig. 3 is the axonometric drawing of the mechanism's connection body only containing inner structure;
Fig. 4 is the front view of Fig. 3;
Fig. 5 is the cutaway view of Fig. 4;
Fig. 6 is the birds-eye view of Fig. 3.
In figure, each label represents:
1, mechanism connects body 2, oscillating airfoil
3, turning cylinder 4, the axis of guide
5, displacement disc 6, rear end linear bearing
7, driven gear 8, driven gear linear bearing
9, thrust axle sleeve 10, swivel arm
11, locating dowel pin 12, connecting pin is swung
13, casing 14, front end cover is rotated
15, front end antifriction-bearing box 16, pressure spring
17, front end linear bearing 18, axle sleeve
19, lower shake-changing arm 20, pull bar
21, upper rocker arm 22, rear side housing
23, driving gear 24, guide rail
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described further.
As Fig. 1-Fig. 6 shows, the invention provides a kind of multiple degree of freedom bio-mechanism, comprise bindiny mechanism's body 1 and oscillating airfoil 2, described oscillating airfoil 2 is connected with the swivel arm 10 of bindiny mechanism body 1, on different devices use different oscillating airfoils can be selected to reach effect of a multiple use of mechanism, and change, easy to adjust.
Described bindiny mechanism body comprises gear drive motor, driving gear 23, driven gear 7, guide rail 24, turning cylinder 3, rotate casing 13 and swivel arm 10, described driven gear 7 is arranged on turning cylinder 3 by driven gear linear bearing 8, described driving gear 23 is connected with gear drive motor, gear drive motor drives driving gear 23 to rotate, described driven gear 7 engages with driving gear 23 and by driving gear 23 driven rotary, driven gear 7 welds four guide rails 24, four guide rails 24 are connected with rotation casing 13, described swivel arm 10 is while be the frame-shaped structure of opening, two support arms adjacent with the opening edge of swivel arm are connected with rotation casing 13 by pin, the rotation of rotating casing 13 can be driven by four guide rails 24 when driven gear 7 rotates, swivel arm 10 also and then rotates together simultaneously.The continuity of driving gear 23 and driven gear 7 is rotated, swivel arm 10 can be driven to realize rotation that the rotation of positive and negative 360 degree and then the Timing Belt oscillating airfoil 2 be automatically connected on swivel arm 10 realize positive and negative 360 degree;
Described turning cylinder 3 is directly connected by coupler with turning cylinder drive motor, turning cylinder 3 and the equidirectional rotation of turning cylinder drive motor when turning cylinder drive motor rotates.Two swing locating dowel pins 11 parallel to each other are provided with between two support arms adjacent with the opening edge of swivel arm 10, the front end of turning cylinder 3 is stretched into two and is swung between locating dowel pin 11, when turning cylinder 3 rotates, the front end of turning cylinder 3 swings between locating dowel pin 11 at two and swings, owing to swinging locating dowel pin 3, there is certain curvature, swivel arm 10 can be made to form the swing of certain amplitude.
The rear end of described turning cylinder 3 is provided with rear side housing 22, lower shake-changing arm 19, pull bar 20 and upper rocker arm 21, one end of described lower shake-changing arm 19 is connected with lower shake-changing arm drive motor, the other end of described lower shake-changing arm 19 is connected with one end of upper rocker arm 21 by pull bar 2, the other end of described upper rocker arm 21 is connected with rear side housing, described lower shake-changing arm 19, pull bar 20, a four-bar linkage is formed between upper rocker arm 21 and rear side housing 22, described upper rocker arm 21 is also connected with an axis of guide 4, the turning cylinder in described rear side housing front is provided with displacement disc 5, the end face of the other end of the described axis of guide 4 is connected by plane-plane contact with between displacement disc 5, displacement disc 5 and the axis of guide 4 area surface contacted are inclined-planes, when lower shake-changing arm 19 starts to rotate under the drive of lower shake-changing arm drive motor, upper rocker arm 21 and lower shake-changing arm 19 synchronous axial system.When upper rocker arm 21 rotates, the axis of guide 4 synchronous axial system be connected with upper rocker arm 21, promotes displacement disc 5 and starts to move to the direction away from rear side housing 22 when lower shake-changing arm 19 moves from lower to upper.
Described displacement disc 5 links together with rear end linear bearing 6, rear end linear bearing 6 together with displacement disc 5 to equidirectional movement, rear end linear bearing 6 is connected with thrust axle sleeve 9, and thrust axle sleeve 9 is connected with front end linear bearing 17, and front end linear bearing 17 fits with the rear end of pressure spring 16.Be interference fit between front end linear bearing 17 and rotation casing 13, ensure that in motion process, front end linear bearing 17 and pressure spring 16 are synchronized with the movement, front end and the front end cover 14 of pressure spring 16 fit together, front end cover 14 is fixed on turning cylinder 3, the straight-line motion produced by displacement disc 5 is delivered on swivel arm 10, swivel arm 10 produces the motion identical with displacement disc 5, and in this motion process, pressure spring 16 is compacted.Because swivel arm 10 is to left movement, make to swing locating dowel pin 11 and more contact at deep camber place with turning cylinder 3, the amplitude of so rotating can become large.If in like manner lower shake-changing arm 19 moves downward, so upper rocker arm 21 and lower shake-changing arm 19 synchronous axial system, pressure spring 16 by compression promotes to rotate casing 13 to left movement, and so the wobble amplitude of swivel arm 10 diminishes.Therefore the effect regulating wobble amplitude is played.
Upper rocker arm 21 in the present invention is connected with the axis of guide 4, when lower shake-changing arm 19 receives the driving from lower shake-changing arm drive motor, this moves through pull bar 20 and is delivered to upper rocker arm 21, the axis of guide 4 that upper rocker arm 21 connects follows lower shake-changing arm 19 to rotate together, is the contact of a kind of point and point between the axis of guide 4 and displacement disc 5.The Contact of displacement disc 5 and the axis of guide 4 be an inclined-plane, the axis of guide 4 moves along the direction of turning cylinder 3 when can promote displacement disc 5 when rotating, be connected by linear bearing between displacement disc 5 with rotation casing 13, the straight-line motion that displacement disc 5 produces is delivered on swivel arm 10, swivel arm 10 produces the motion identical with displacement disc 5, can the amplitude of fluctuation of regulating rotary swing arm 10 when displacement disc 5 moves.Turning cylinder 3 is directly connected with turning cylinder drive motor, and the velocity of rotation of turning cylinder drive motor can determine the rotative speed of turning cylinder 3, also just can control the frequency that swivel arm 10 swings.
When realizing whole mechanism and rotating, as Figure 4-Figure 6.Driving gear 23 is connected with motor, and under the drive of motor, driving gear 23 starts to rotate, and driving gear 23 is meshed with driven gear 7, and therefore driven gear 7 starts to rotate.
As shown in Figure 4, turning cylinder 3 and motor straight were connected coupler and were connected, turning cylinder 3 and motor equidirectional rotation when motor rotates.As shown in Figure 4 and Figure 6, the front end of turning cylinder 3 is positioned at two and swings in the middle of locating dowel pin 11, when turning cylinder 3 rotates, the front end of turning cylinder 3 swings between locating dowel pin 11 at two and swings, there is certain curvature, therefore, it is possible to make swivel arm 10 form the swing of certain amplitude owing to swinging locating dowel pin 3.
As shown in Figure 5, lower shake-changing arm 19 is connected with motor, lower shake-changing arm 19, pull bar 20, forms a four-bar linkage between upper rocker arm 21 and rear side housing 22, and upper rocker arm 21 is connected with the axis of guide in Fig. 44.When starting to rotate under the drive of lower shake-changing arm 19 at motor, upper rocker arm 21 and lower shake-changing arm 19 synchronous axial system.When upper rocker arm 21 rotates, the axis of guide 4 synchronous axial system be connected with upper rocker arm 21, be connected by plane-plane contact between the axis of guide 4 with displacement disc 5, the region that displacement disc 5 contacts with the axis of guide 4 is an inclined-plane, promotes displacement disc 5 start to move to the direction away from rear side housing 22 when lower shake-changing arm 19 moves from lower to upper.Displacement disc 5 and rear end linear bearing 6 link together, so rear end linear bearing 6 together with displacement disc 5 to equidirectional movement.Rear end linear bearing 6 is connected with thrust axle sleeve 9, and thrust axle sleeve 9 is connected with front end linear bearing 17, and front end linear bearing 17 and pressure spring 16 fit.Be interference fit between front end linear bearing 17 and rotation casing 13, ensure that in motion process, front end linear bearing 17 and pressure spring 16 are synchronized with the movement, pressure spring 16 and front end cover 14 fit together, front end cover 14 is fixed on turning cylinder 3, therefore the straight-line motion produced by displacement disc 5 is delivered on swivel arm 10, swivel arm 10 produces the motion identical with displacement disc, and in this motion process, pressure spring 16 is compacted.Because swivel arm 10 is to left movement, make to swing locating dowel pin 11 and more contact at deep camber place with turning cylinder 3, the amplitude of so rotating can become large.If in like manner lower shake-changing arm 19 moves downward, so upper rocker arm 21 and lower shake-changing arm 19 synchronous axial system, pressure spring 16 by compression promotes to rotate casing 13 to left movement, and so the wobble amplitude of swivel arm 10 diminishes.Therefore the effect regulating wobble amplitude is played.
In concrete enforcement, the present invention requires to need following process according to different rotations:
First, if realize the adjustment of wobble amplitude, so need the machine operation be connected with lower shake-changing arm 19, driven by motor lower shake-changing arm 19 upward movement, so the wobble amplitude of swivel arm 10 becomes large.Driven by motor lower shake-changing arm 19 moves downward, and so the wobble amplitude of swivel arm 10 diminishes.
Secondly, if realize the rotation of swivel arm 10, need the machine operation be connected with driving gear 23, if need the speed of rotating to regulate, so only need to regulate the speed be connected with driving gear 23.
Finally, if regulate the speed swung, so need to regulate the motor be connected with turning cylinder 3, the speed of motor increases the hunting frequency increase of so swivel arm 10, and the hunting frequency of the low so swivel arm 10 of rotating speed of motor reduces.
More than contain the explanation of the preferred embodiment of the present invention; this is to describe technical characteristic of the present invention in detail; be not want summary of the invention to be limited in the concrete form described by embodiment, other amendments carried out according to content purport of the present invention and modification are also protected by this patent.The purport of content of the present invention defined by claims, but not defined by the specific descriptions of embodiment.
Claims (3)
1. a multiple degree of freedom bio-mechanism, it is characterized in that: comprise bindiny mechanism's body and oscillating airfoil, described oscillating airfoil is connected with the swivel arm of mechanism body, described bindiny mechanism body comprises gear drive motor, driving gear, driven gear, guide rail, turning cylinder, rotate casing and swivel arm, described driven gear is installed on the rotating shaft by driven gear linear bearing, described driving gear is connected with gear drive motor, gear drive motor drives driving gear to rotate, described driven gear engages with driving gear and by driving gear driven rotary, driven gear welds four guide rails, four guide rails are connected with rotation casing, described swivel arm is while be the frame-shaped structure of opening, two support arms adjacent with the opening edge of swivel arm are connected with rotation casing by pin, the rotation of rotating casing can be driven when driven gear rotates, swivel arm also and then rotates together simultaneously, the continuity of driving gear and driven gear is rotated, swivel arm can be driven to realize rotation that the rotation of positive and negative 360 degree and then the Timing Belt oscillating airfoil be automatically connected on swivel arm realize positive and negative 360 degree.
2. multiple degree of freedom bio-mechanism according to claim 1, is characterized in that: described turning cylinder is directly connected by coupler with turning cylinder drive motor, turning cylinder and the equidirectional rotation of turning cylinder drive motor when turning cylinder drive motor rotates; Two swing locating dowel pins parallel to each other are provided with between two support arms adjacent with the opening edge of swivel arm, the front end of turning cylinder is stretched into two and is swung between locating dowel pin, when turning cylinder rotates, the front end of turning cylinder swings between locating dowel pin at two and swings, owing to swinging locating dowel pin, there is certain curvature, swivel arm can be made to form the swing of certain amplitude.
3. multiple degree of freedom bio-mechanism according to claim 1, it is characterized in that: the rear end of described turning cylinder is provided with rear side housing, lower shake-changing arm, pull bar and upper rocker arm, one end of described lower shake-changing arm is connected with lower shake-changing arm drive motor, the other end of described lower shake-changing arm is connected with one end of upper rocker arm by pull bar, the other end of described upper rocker arm is connected with rear side housing, described lower shake-changing arm, pull bar, a four-bar linkage is formed between upper rocker arm and rear side housing, described upper rocker arm is also connected with an axis of guide, the turning cylinder in described rear side housing front is provided with displacement disc, the end face of the other end of the described axis of guide is connected by plane-plane contact with between displacement disc, the area surface that displacement disc contacts with guiding axial plane is an inclined-plane, when lower shake-changing arm starts to rotate under the drive of lower shake-changing arm drive motor, upper rocker arm and lower shake-changing arm synchronous axial system, when upper rocker arm rotates, the axis of guide synchronous axial system be connected with upper rocker arm, promotes displacement disc and starts to move to the direction away from rear side housing when lower shake-changing arm moves from lower to upper, when lower shake-changing arm moves from top to bottom, the be under pressure effect of spring of displacement disc starts to move to the direction near rear side housing,
Described displacement disc and rear end linear bearing link together, rear end linear bearing together with displacement disc to equidirectional movement, rear end linear bearing is connected with thrust axle sleeve, and thrust axle sleeve is connected with front end linear bearing, and the rear end of front end linear bearing and pressure spring fits; Be interference fit between front end linear bearing and rotation casing, ensure that in motion process, front end linear bearing and pressure spring are synchronized with the movement, front end and the front end cover of pressure spring fit together, front end cover is fixing on the rotating shaft, the straight-line motion produced by displacement disc is delivered on swivel arm, swivel arm produces the motion identical with displacement disc, and in this motion process, pressure spring is compacted; If swivel arm is to left movement, make to swing locating dowel pin and more contact at deep camber place with turning cylinder, the amplitude of so rotating can become large; If in like manner lower shake-changing arm moves downward, so upper rocker arm and lower shake-changing arm synchronous axial system, pressure spring by compression promotes to rotate casing and moves left, and so the wobble amplitude of swivel arm diminishes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510659485.XA CN105197121B (en) | 2015-10-14 | 2015-10-14 | A kind of multiple degrees of freedom bio-mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510659485.XA CN105197121B (en) | 2015-10-14 | 2015-10-14 | A kind of multiple degrees of freedom bio-mechanism |
Publications (2)
| Publication Number | Publication Date |
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| CN105197121A true CN105197121A (en) | 2015-12-30 |
| CN105197121B CN105197121B (en) | 2017-08-11 |
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| CN201510659485.XA Expired - Fee Related CN105197121B (en) | 2015-10-14 | 2015-10-14 | A kind of multiple degrees of freedom bio-mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109263964A (en) * | 2018-11-22 | 2019-01-25 | 汕头大学 | A kind of bionical dragonfly wing driving mechanism of mandril groove with ball pair |
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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 |
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|---|---|---|---|---|
| US6227483B1 (en) * | 2000-04-05 | 2001-05-08 | SUCCESSION CLéMENT THERRIAULT | Wing movement for ornithopters and apparatus of the like |
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| US20070205322A1 (en) * | 2006-03-06 | 2007-09-06 | Wei-Hsiang Liao | Micro aviation vehicle |
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| CN109263964B (en) * | 2018-11-22 | 2024-02-23 | 汕头大学 | Ejector rod groove bionic dragonfly wing driving mechanism with ball pair |
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| Publication number | Publication date |
|---|---|
| CN105197121B (en) | 2017-08-11 |
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