CN106184746A - A kind of Fructus Forsythiae bionical butterfly flapping wing aircraft - Google Patents
A kind of Fructus Forsythiae bionical butterfly flapping wing aircraft Download PDFInfo
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- CN106184746A CN106184746A CN201610813986.3A CN201610813986A CN106184746A CN 106184746 A CN106184746 A CN 106184746A CN 201610813986 A CN201610813986 A CN 201610813986A CN 106184746 A CN106184746 A CN 106184746A
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- wing
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- aircraft
- fructus forsythiae
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
The open a kind of Fructus Forsythiae bionical butterfly flapping wing aircraft of the present invention, drives assembly and wing assembly including main trunk, wing；Wherein, wing assembly includes left wing assembly and right wing assembly, is respectively arranged in the wing installed both sides, main trunk front end and drives on assembly, and specular.In wing assembly, it is fixed-type that outline connects assembly by plastics after being bent by carbon fiber bar, constitutes this Fructus Forsythiae bionical butterfly flapping wing aircraft entirety skeleton, and elastic film forms according to wing skeleton integral cutting, and utilize adhesive tape to be fixed on wing skeleton, form elastic wing.The driving servo driving that wing assembly is installed by main trunk front portion, drives wing to swat, and is converted into thrust and the lift of flight, and the independent phase place at the whole story controlling dipteron realizes pitching and the driftage of butterfly；And by main trunk rear portion install micro control system and electric power system, it is achieved the control of bionical butterfly flapping wing aircraft and power supply.
Description
Technical field
The present invention relates to a kind of bio-robot and flapping wing aircraft, belong to technical field of aerospace.Specifically, it is a kind of mould
Imitative nature wing centre section body bigger insecticide Lepidoptera butterfly profile and movement mechanism, by independent driven by servomotor Fructus Forsythiae
Bionical butterfly flapping wing aircraft.
Background technology
Flapping wing aircraft has the advantage of its uniqueness, has important at national defence and civil area and is widely applied, to micro-
The research of type flapping wing aircraft has become the focus of current aviation field research.The office that flapping flight mode is recognized by people in early days
Sex-limited and scientific and technological level at that time restriction, does not open the real veil of this flying method.The people in ancient times attempt making
Wing is made, it is desirable to be able to fully rely on the muscle power of people by wing and circle in the air together with small bird with various materials.Europe literature and art is multiple
The Leonardo da Vinci of phase fashionable just designed a Manpower ornithopter.But, it is desirable to by manpower in the way of simple vibration wing
The trial completing to fly has failed and comes to an end.People afterwards focus on Fixed Wing AirVehicle and rotor flying by research
On device, achieve real accomplishment, be successfully realized the dream in fly blue sky.
Along with the development theoretical to the research of bionical flight and aeromechanics technology, it has been found that flapping wings type flight side
Formula has many advantages compared with other flying methods.Flight when considering the size reduction of aircraft and at relatively low reynolds number
Situation, the flying method of fixed-wing exists for capacity of resisting disturbance more weak and more scabrous pneumatic knowledge topic, flapping wing aircraft
There is huge realistic meaning.Because of the uniqueness of its flight theory, there is a lot of performance advantage: it will climb, and advance and hover
Process be melted into a whole, in certain speed range, pneumatic efficiency is higher, extends voyage and hours underway；Meanwhile, to taking off
The requirement of space enrironment is extremely low, can take off smoothly, it might even be possible to former under the least site area and the spatial environments of complexity
Take off；Low-speed maneuver performance in having well, has good application prospect in military affairs in future, such as scouts army's thing
The specimen sampling of dangerous situation, the trunking traffics such as report, target tracking monitor, core is biochemical, can also actively carry out attack or defence,
And it is difficult to be hit because its flight path complexity is unpredictable and is also beneficial to escape etc..Micro flapping wing air vehicle is at civilian aspect
Also have good application prospect, except carry out photography that everybody is familiar with, survey and draw, the tradition minute vehicle task such as monitoring with
Outward, it can also load onto the cry of audio frequency apparatus simulation eagle, and the bird dispelling being applied to around airport works；Due to itself flight and
Real butterfly is closely similar, and bionical excellent has certain sight.
Summary of the invention
For the problems referred to above present invention with true butterfly for bionics prototype, retrieved by lot of documents and biological model
Observe, butterfly front and rear wing is reduced to whole wing and is designed, and then complete the Design of Mechanical Structure of bionical butterfly flapping wing aircraft.
On this basis, use PID control rate to be combined with Remote, aircraft is carried out stable flight and controls.
One Fructus Forsythiae of the present invention bionical butterfly flapping wing aircraft, drives assembly and wing assembly including main trunk, wing.Its
In, wing assembly includes left wing assembly and right wing assembly, is respectively arranged in the wing installed both sides, main trunk front end and drives
On assembly, and specular.Left wing assembly and right wing assembly are by outline bar, main drive rod, vein, wing root connector
Constitute with elastic film.Wherein, wing root connector uses cross section like sector structure；Outside wing assembly is with the wing of right wing assembly
Profile is made up of outline bar, and outline bar rear and front end is inserted in the blind hole that wing root connector front and back position is offered solid respectively
Fixed.
It is fixed with vein connector in the middle part of outline bar the most successively, is used for connecting vein, makes wing by vein
In the middle part of wing outline recessed, form the shape of imitative butterfly's wing.Outline bar front portion is fixed with main drive rod connector, main driving
Bar one end is connected with main drive rod connector, after the other end passes the through hole offered on wing root connector, is fixed on wing and drives
Assembly drives on steering wheel rocking arm.The articulated elements installed in the middle part of wing outline rear portion and main trunk is hinged.Described elastic film
It is layed on wing outline.
To sum up, by driving steering wheel output power, it is transferred to main drive rod through steering wheel rocking arm, main drive rod drives wing
Assembly swat motion.
It is an advantage of the current invention that:
1, Fructus Forsythiae of the present invention bionical butterfly flapping wing aircraft, uses full carbon fibre design framework, comprehensive carbon fiber bar light-duty and
The big advantage of high resilience two, by fixed-type for the profile of flapping wing aircraft, can keep the completeness of wing in flight course
Shape can produce again certain elastic deformation, produces enough lift and thrust for this butterfly flapping wing aircraft；
2, Fructus Forsythiae of the present invention bionical butterfly flapping wing aircraft, extends U-shaped end at wing latter half, at butterfly wings
Wing can produce contrary Passive deformation during swatting, and utilizes this Passive deformation to provide stabilizing moment for butterfly flight, it is achieved
Increase steady effect；
3, Fructus Forsythiae of the present invention bionical butterfly flapping wing aircraft, uses micro control system Integrated design, by integrated chip in little
It is designed with battery base on type circuit board simultaneously, while constantly alleviating frame for movement weight, facilitates again installing/dismounting；
4, Fructus Forsythiae of the present invention bionical butterfly flapping wing aircraft, uses the PID closed loop control with IMU inertia sensing unit feedback
Algorithm processed, and the angular pose gathered is carried out Kalman filtering, thus realize stablizing of whole system, it is ensured that flapping wing function
The enough flight accurately realizing holding position；By supervisory controller real time correction based on CC2530 acp chip, it flies simultaneously
Row track, it is achieved human-computer interaction.
Accompanying drawing explanation
Fig. 1 is Fructus Forsythiae of the present invention bionical butterfly flapping wing aircraft overall structure schematic diagram；
Fig. 2 is the main trunk structural representation of Fructus Forsythiae of the present invention bionical butterfly flapping wing aircraft；
Fig. 3 is that in the Fructus Forsythiae of the present invention bionical butterfly main trunk of flapping wing aircraft, wing drives steering wheel supporting structure schematic diagram；
Fig. 4 is hinge mounting hole structural representation in the Fructus Forsythiae of the present invention bionical butterfly main trunk of flapping wing aircraft；
Fig. 5 is Fructus Forsythiae of the present invention bionical butterfly flapping wing aircraft main trunk middle controller connection mounting structure schematic diagram；
Fig. 6 is battery connection mounting structure schematic diagram in the Fructus Forsythiae of the present invention bionical butterfly main trunk of flapping wing aircraft；
Fig. 7 is that in Fructus Forsythiae of the present invention bionical butterfly flapping wing aircraft, wing drives modular construction schematic diagram；
Fig. 8 is wing modular construction schematic diagram in Fructus Forsythiae of the present invention bionical butterfly flapping wing aircraft；
Fig. 9 be Fructus Forsythiae of the present invention bionical butterfly flapping wing aircraft wing assembly in wing root connecting-piece structure schematic diagram.
In figure:
1-main trunk 2-wing drives assembly 3-wing assembly
4-micro control system 5-electric power system 101-mobile jib
102-wing connects hinge 103-wing and drives steering wheel support 104-controller to connect support
105-battery connects support 201-and drives steering wheel 202-steering wheel rocking arm
301-outline bar 302-main drive rod 303-vein
304-wing root connector 305-elastic film 306-blind hole A
307-through hole 308-blind hole B 309-blind hole C
310-blind hole D 311-blind hole E 312-vein connector
102a-hinge mounting hole 102b-wing connecting hole 102c-lightening hole
103a-rack mounting apertures 103b-steering wheel installing hole 104a-controller rack mounting apertures
104b-controller installation position 105a-battery bracket installing hole 105b-dop
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail.
One Fructus Forsythiae of the present invention bionical butterfly flapping wing aircraft, drives assembly 2 and wing assembly including main trunk 1, wing
3, as shown in Figure 1；Wherein, wing assembly 3 includes left wing assembly and right wing assembly, respectively by being installed on main trunk 1
The left and right sides, and specular.
Described main trunk 1 includes that mobile jib 101, wing connect hinge 102, wing drives steering wheel support 103, controller to connect
Support 104 is connected support 105 with battery, as shown in Figure 2.Wherein, mobile jib 101 uses cross section to be that the 2mm length of side is foursquare hollow
Carbon fiber bar, a length of 260mm.Wing drive installation support 103 is PLA plastic structural part, as shown in Figure 3；Wing drives peace
Dress support 103 center has and the rack mounting apertures 103a of mobile jib 101 cross-sections match, is driven by wing by rack mounting apertures 103a
Dynamic mounting bracket 103 is enclosed within mobile jib 101 front end and is tightly fixed.Above-mentioned wing drive installation support 103 left and right sides upper and lower
Symmetric position all has steering wheel installing hole 103b along mobile jib 101 axial design, is respectively intended to be installed with a set of wing driving group
Part 2.It is PLA plastic structural part that wing connects hinge 102, in in-line, as shown in Figure 4；Wing connects hinge 102 center
It is designed with and hinge mounting hole 102a of mobile jib 101 cross-sections match, by hinge mounting hole 102a, wing is connected hinge 102 and overlap
Being tightly fixed in mobile jib 101 front portion, fixed position is near mobile jib 101 center.Wing connects hinge 102 two ends and is designed with
Wing connecting hole 102b, is respectively intended to connect left wing assembly and right wing assembly.Above-mentioned hinge mounting hole 102a and two wings
It is also devised with lightening hole 102c between wing connecting hole 102b.It is two that controller connects support 104, is PLA plastic structural part, as
Shown in Fig. 5, one end is designed with the controller rack mounting apertures 104a with mobile jib 101 cross-sections match, is installed by controller support
Two controllers connection supports 104 are enclosed within mobile jib 101 rear portion and are tightly fixed by hole 104a.Two controllers connect support 104
Bottom has controller installation position 104b, is used for fixing micro control system 4.It is two that battery connects support 105, is ABS and moulds
Material structural member, in mirror writing U-shaped, as shown in Figure 6；Battery connects support 105 upper design to be had and the battery of mobile jib 101 cross-sections match
Two batteries are connected support 105 by battery bracket installing hole 105a and are enclosed within mobile jib 101 end close-fitting by rack mounting apertures 105a
Close fixing.The U-shape structure that above-mentioned two battery connects support 105 is internal for placing electric power system 5, and by connecting at battery
Support 105 two ends are inwardly toward designed with dop 105b, are fastened by electric power system 5 card.Above-mentioned wing connects hinge 102, wing
It is adjustable that drive installation support 103, controller connection support 104 is connected support 105 position on main trunk 1 is axial with battery, enters
And make left wing assembly, right wing assembly, micro control system 4, electric power system 5 position is adjustable, can be according to left wing assembly with right
Wing assembly is swatted the composite factors such as the aerodynamic force being subject to and self gravitation and is adjusted.
The wing that above-mentioned wing drive installation support 103 left and right sides is installed drives assembly 2 structure identical, is symmetrically installed,
Including driving steering wheel 201 and steering wheel rocking arm 202, as shown in Figure 7.Wherein, drive steering wheel 201 use the ultralight metal-back of superminiature,
Metal-toothed high pressure steering engine, model is D0474HT 2S HV.Drive steering wheel 201 by bolt and wing drive installation support 103
Steering wheel installing hole 103b coordinate, it is achieved drive steering wheel 201 fixed installation.Two set wings drive the driving steering wheel in assembly 2
In 201 output shaft axis are generally aligned in the same plane with mobile jib 101 axis in main trunk 1, and towards main trunk 1 end, with main trunk 1
Forming 10 ° of angles between middle mobile jib 101, this angle determines the sweepforward angle of left wing assembly and right wing assembly.Steering wheel rocking arm
202 are perpendicular to drive steering wheel 201 output shaft to arrange, and input is fixed with driving steering wheel 201 output shaft, and outfan end has directly
The wing of footpath 1.8mm connects blind hole 203, and wing connects blind hole 203 axis and is perpendicular to drive steering wheel 201 output shaft.Two set wings
Drive assembly 2 to connect blind hole 203 by the wing on steering wheel rocking arm 202 and connect left wing assembly and right wing assembly respectively.
Described left wing assembly is identical with dimensional parameters with right wing modular construction, is symmetricly set in main trunk about 1 two
Side, is made up of with elastic film 305 outline bar 301, main drive rod 302, vein 303, wing root connector 304, such as Fig. 8 institute
Show.Wherein, wing root connector 304 uses cross section like sector structure, and thickness is 2.0mm, as shown in Figure 9；Wing root connector 203
In cambered surface, have blind hole A306, through hole 307, blind hole B308, blind hole C309, blind hole D310 and blind hole E311 the most successively；
Diameter is followed successively by 1.5mm, 2.0mm, 1.2mm, 1.2mm, 1.2mm.The wing outline of left wing assembly and right wing assembly by
Constituting after outline bar 301 bending, outline bar 301 uses carbon fiber bar, before rear and front end inserts wing root connector 304 respectively
Blind hole A306 that rear position is offered is fixing with blind hole E311.
It is fixed with the vein connector 312 of three three-port structures in the middle part of outline bar 301 the most successively, uses respectively
Connect three veins 303, make wing outline form the shape of imitative butterfly's wing.Wherein, three vein 303 one end respectively with
Three vein connectors 312 are fixed, the other end insert respectively offer in the middle part of wing root connector 304 blind hole B308, blind hole
C309 fixes with blind hole D310.Above-mentioned three veins 303 are shortened successively by rear to front length, and the most main drive rod 302 is long
Degree, the vein 303 from there through rear portion can make to be formed in the middle part of carbon fiber bar 301 recessed structures, make foreign steamer by this recessed structures
Wide bar 301 front portion and rear portion evagination；By middle part and anterior vein 303, wing outline central structure can be stablized, and make wing
Seamlessly transit between wing outline front portion and rear portion concave portion.
Outline bar 301 front portion is fixed with the main drive rod connector 313 of three-port structure, is positioned at anterior concave portion
Place, is used for connecting main drive rod 302.Described main drive rod 302 is diameter 1.5mm, the solid carbon fiber bar of length 350mm, one
End is connected with main drive rod connector 312, after the other end passes the through hole that wing root connector 304 is offered, inserts wing driving group
In part 2, the connection of the wing on steering wheel rocking arm 202 blind hole 203 is fixed；And guarantee that wing root connector 304 is close to steering wheel rocking arm 202
Outfan；From there through driving steering wheel 201 to export power, it is transferred to main drive rod 302 through steering wheel rocking arm 202, by main drive rod
302 drive wing assemblies 3 swat motion.
Above-mentioned vein connector 306, main drive rod connector 313, wing root connector 304, main drive rod 302 and vein
303 all use PLA material, utilize 3D printing and making.The U-shaped structure of concave portion at wing outline rear portion, reaches stable work
With；And rear portion concave portion is fixed in the wing connecting hole 102b that wing in main trunk 1 connects hinge 102 end, it is achieved wing
Fixing between wing assembly 3 and main trunk 1, finally realizes the flip-flop movement of wing assembly 3 and not whipping.
Described elastic film 305 is TPU elastic film, is formed according to the cutting of wing outline, is layed in wing outline
On, ultimately form bionical butterfly aircraft.
Heretofore described micro control system 3 is long 30mm, wide 20mm, the PCB printed circuit of thick 1.2mm, is integrated with 1
Individual IMU (Inertial Measurement Unit) include the accelerometer of three single shafts and the gyro of three single shafts, 1
ZigBee ultra-low power consumption wireless communication module, is used for feeding back in time attitude and the flight path of current bionical butterfly aircraft, by adjusting
Whole dipteron swats rule, it is ensured that the stability of bionical butterfly aircraft flight.Left wing assembly and the driving in right wing assembly
The pad solder that steering wheel 201 is controlled with micro control system 3 output by 6 0.2mm wires is connected；The pcb board of micro control system
On connection through hole is set, connect supports by screw and 2 controllers and be connected so that it is position is adjustable, it is simple in test, regulation is imitative
Raw butterfly aircraft center of gravity.Different control is exported from there through ZigBee ultra-low power consumption wireless communication module micro control system 3
Independent left wing assembly and the driving steering wheel 201 in right wing assembly of driving of instruction, and then control the flight of the present invention bionical butterfly
The left wing assembly of device and right wing assembly swat motion, swat frequency by change left wing assembly and right wing assembly
And phase place at the whole story, make bionical butterfly aircraft efficient stable complete the action such as pitching, driftage, it is achieved bionical butterfly aircraft
Autonomous flight.
Heretofore described electric power system 4 includes battery and mu balanced circuit.Battery uses the lighium polymer of 2 pieces of 120mAh
Battery；The lithium polymer battery series connection of 2 pieces of 120mAh.Between battery and Voltage stabilizing module, and between Voltage stabilizing module and micro control system 3
All being connected by 0.2mm silvery enamel-covered wire, 7V to the 7.6V voltage exported by lithium battery by Voltage stabilizing module is stabilized to watch respectively
Take the 3.3V required for the 7.4V voltage required for motor 201 and IMU and ZigBee module.
The present invention bionical butterfly aircraft passes through pitch attitude, the experiment test of propulsive efficiency, it is thus achieved that transport the most efficiently
Dynamic model formula, i.e. swats wing with the frequency of 1-2 time per second, and the position starting to swat is to be with main trunk 1 place horizontal plane angle
The position of 60 °, under flutter the position that angle is-10 °, then on flutter, swat the most up and down, through experiment measuring and calculating, the present invention
The maximum speed of bionical butterfly aircraft can reach 1.5m/s, flight 3-4 minute, and the 180mAh lithium battery of electric power system 4 needs
Fill 15 minutes electricity.
Claims (7)
1. a Fructus Forsythiae bionical butterfly flapping wing aircraft, drives assembly and wing assembly including main trunk, wing；Wherein, wing
Assembly includes left wing assembly and right wing assembly, is respectively arranged in the wing installed both sides, main trunk front end and drives on assembly,
And specular；It is characterized in that:
Left wing assembly and right wing assembly are by outline bar, main drive rod, vein, wing root connector and elastic film structure
Become；Wherein, wing root connector uses cross section like sector structure；The wing outline of wing assembly and right wing assembly is by outline
Bar is constituted, and outline bar rear and front end is inserted in the blind hole that wing root connector front and back position is offered fixing respectively；
It is fixed with vein connector in the middle part of outline bar the most successively, is used for connecting vein, is made outside wing by vein
In the middle part of profile recessed, form the shape of imitative butterfly's wing；Outline bar front portion is fixed with main drive rod connector, main drive rod one
End is connected with main drive rod connector, after the other end passes the through hole offered on wing root connector, is fixed on wing and drives assembly
On middle driving steering wheel rocking arm；The articulated elements installed in the middle part of wing outline rear portion and main trunk is hinged.
Described elastic film is layed on wing outline.
2. a kind of Fructus Forsythiae bionical butterfly flapping wing aircraft, it is characterised in that: vein connector is three,
Corresponding three vein connectors of installation in the middle part of outline bar；Three veins are shortened successively by rear to front length, and are respectively less than main
Drive rod length.
3. a kind of Fructus Forsythiae bionical butterfly flapping wing aircraft, it is characterised in that: vein connector, main driving
Joint element for bar, wing root connector, main drive rod and vein all use PLA material, utilize 3D printing and making；Outline bar uses carbon
Fiber rod.
4. a kind of Fructus Forsythiae bionical butterfly flapping wing aircraft, it is characterised in that: wing outline rear portion is U
Type structure.
5. a kind of Fructus Forsythiae bionical butterfly flapping wing aircraft, it is characterised in that: elastic film is that TPU is elastic
Thin film.
6. a kind of Fructus Forsythiae bionical butterfly flapping wing aircraft, it is characterised in that: micro control system is PCB print
Brush circuit, is integrated with 1 IMU, including accelerometer and the gyro of three single shafts, 1 ZigBee super low-power consumption of three single shafts
Wireless communication module, is used for feeding back in time attitude and the flight path of current bionical butterfly aircraft；Left wing assembly and right wing group
The pad solder driving steering wheel to be controlled with micro control system output by wire in part is connected.
7. a kind of Fructus Forsythiae bionical butterfly flapping wing aircraft, it is characterised in that: described electric power system includes
Battery and mu balanced circuit；Battery uses the lithium polymer battery of 2 pieces of 120mAh；The lithium polymer battery series connection of 2 pieces of 120mAh；Electricity
Between pond and Voltage stabilizing module, and all it is connected by silvery enamel-covered wire between Voltage stabilizing module with micro control system, will by Voltage stabilizing module
7V to the 7.6V voltage of lithium battery output is stabilized to drive the 7.4V voltage required for steering wheel and IMU and ZigBee module institute respectively
The 3.3V needed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610813986.3A CN106184746B (en) | 2016-09-09 | 2016-09-09 | A kind of bionical butterfly flapping wing aircraft of fructus forsythiae |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610813986.3A CN106184746B (en) | 2016-09-09 | 2016-09-09 | A kind of bionical butterfly flapping wing aircraft of fructus forsythiae |
Publications (2)
| Publication Number | Publication Date |
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| CN106184746A true CN106184746A (en) | 2016-12-07 |
| CN106184746B CN106184746B (en) | 2018-08-10 |
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|---|---|---|---|
| CN201610813986.3A Expired - Fee Related CN106184746B (en) | 2016-09-09 | 2016-09-09 | A kind of bionical butterfly flapping wing aircraft of fructus forsythiae |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107867396A (en) * | 2017-11-06 | 2018-04-03 | 北京科技大学 | The flapping wing aircraft and flapping wing aircraft driving method of a kind of servo driving |
| CN108639337A (en) * | 2018-03-12 | 2018-10-12 | 天津大学 | The single-degree-of-freedom flapping wing mechanism of space motion path can be achieved |
| CN108656121A (en) * | 2017-03-29 | 2018-10-16 | 深圳光启合众科技有限公司 | Robot wing device and robot |
| CN108845580A (en) * | 2018-06-05 | 2018-11-20 | 深圳大漠大智控技术有限公司 | Butterfly ornithopter flight device and its control method |
| CN109972093A (en) * | 2019-03-22 | 2019-07-05 | 中车工业研究院有限公司 | A kind of bionical configuration optical-thermal conversion material of high polymer and its preparation method and application |
| CN110329505A (en) * | 2019-06-12 | 2019-10-15 | 南京理工大学 | A kind of bionical hummingbird aircraft |
| CN110667840A (en) * | 2019-10-29 | 2020-01-10 | 北京科技大学 | Novel butterfly-imitating flapping-wing aircraft |
| CN110816827A (en) * | 2019-11-15 | 2020-02-21 | 河海大学常州校区 | Bionic butterfly flapping wing aircraft |
| CN112278267A (en) * | 2020-10-28 | 2021-01-29 | 北京航空航天大学 | Bionic flapping wing aircraft and control method thereof |
| CN113335521A (en) * | 2021-06-07 | 2021-09-03 | 中国科学院合肥物质科学研究院 | High-maneuvering flapping wing type bionic bat aircraft with flexible structure and flight control method thereof |
| CN116360492A (en) * | 2023-04-03 | 2023-06-30 | 北京科技大学 | Object tracking method and system for flapping wing flying robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656121A (en) * | 2017-03-29 | 2018-10-16 | 深圳光启合众科技有限公司 | Robot wing device and robot |
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| CN108639337B (en) * | 2018-03-12 | 2022-02-22 | 天津大学 | Single-degree-of-freedom flapping wing mechanism capable of realizing space motion trail |
| CN108639337A (en) * | 2018-03-12 | 2018-10-12 | 天津大学 | The single-degree-of-freedom flapping wing mechanism of space motion path can be achieved |
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| CN109972093A (en) * | 2019-03-22 | 2019-07-05 | 中车工业研究院有限公司 | A kind of bionical configuration optical-thermal conversion material of high polymer and its preparation method and application |
| CN110329505B (en) * | 2019-06-12 | 2022-03-22 | 南京理工大学 | Bionic hummingbird aircraft |
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| CN110816827B (en) * | 2019-11-15 | 2023-08-29 | 河海大学常州校区 | Bionic butterfly flapping-wing aircraft |
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| CN116360492A (en) * | 2023-04-03 | 2023-06-30 | 北京科技大学 | Object tracking method and system for flapping wing flying robot |
| CN116360492B (en) * | 2023-04-03 | 2024-01-30 | 北京科技大学 | Object tracking method and system for flapping wing flying robot |
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