CN106184746B - A kind of bionical butterfly flapping wing aircraft of fructus forsythiae - Google Patents
A kind of bionical butterfly flapping wing aircraft of fructus forsythiae Download PDFInfo
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- CN106184746B CN106184746B CN201610813986.3A CN201610813986A CN106184746B CN 106184746 B CN106184746 B CN 106184746B CN 201610813986 A CN201610813986 A CN 201610813986A CN 106184746 B CN106184746 B CN 106184746B
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- wing
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- outer profile
- fructus forsythiae
- aircraft
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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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The present invention discloses a kind of bionical butterfly flapping wing aircraft of fructus forsythiae, including main trunk, wing drive component and wing component；Wherein, wing component includes left wing component and right wing component, is respectively arranged on the wing drive component of main trunk front end both sides installation, and mirror symmetry.In wing component, outer profile is fixed-type by plastics connection component after being bent by carbon fiber bar, constitutes the bionical butterfly flapping wing aircraft overall skeleton of the fructus forsythiae, elastic film is formed according to wing skeleton integral cutting, and be fixed on wing skeleton using adhesive tape, form elastic wing.The driving servo driving that wing component is installed by main trunk front drives wing to swat, and is converted into the thrust and lift of flight, and the whole story phase of independent control dipteron realizes the pitching and yaw of butterfly；And by the micro control system and power supply system of the installation of main trunk rear portion, realize the control and power supply of bionical butterfly flapping wing aircraft.
Description
Technical field
The present invention relates to a kind of bio-robot and flapping wing aircrafts, belong to technical field of aerospace.Specifically, it is a kind of mould
The bigger insect of imitative nature wing centre section body --- Lepidoptera butterfly shape and movement mechanism drives fructus forsythiae by independent servo motor
Bionical butterfly flapping wing aircraft.
Background technology
Flapping wing aircraft has the advantages that its uniqueness, has important with civil field in national defence and is widely applied, to micro-
The research of type flapping wing aircraft has become the hot spot of current aviation field research.The office that early stage people recognize flapping flight mode
Sex-limited and scientific and technological level at that time limitation, does not open the real veil of this flying method.The people in ancient times attempt to make
Wing is made with a variety of materials, it is desirable to be able to which the muscle power that people is fully relied on by wing is circled in the air together with small bird.European 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 a manner of simple vibration wing
The trial for completing to fly, which has failed, to come to an end.People later focus on Fixed Wing AirVehicle and rotor flying by research
On device, real accomplishment is achieved, is successfully realized the dream in fly blue sky.
With the development of research and aeromechanics technology theory to bionical flight, it has been found that flapping wings type flight side
Formula has many advantages compared with other flying methods.When the size reduction and flight when compared with low reynolds number for considering aircraft
The flying method of situation, fixed-wing there is the weaker and more scabrous pneumatic knowledge topic of anti-interference ability, flapping wing aircraft
With huge realistic meaning.Because of the uniqueness of its flight theory, there are many performance advantages：It will climb, promote and hover
Process be melted into a whole, pneumatic efficiency is higher in certain speed range, extends voyage and hours underway；Meanwhile to taking off
The requirement of space enrironment is extremely low, can smoothly take off under the site area of very little and the space environment of complexity, it might even be possible to former
It takes off on ground；With good middle low-speed maneuver performance, there is good application prospect in military affairs in the future, for example scout army's thing
The sample samplings of dangerous situations such as report, target tracking monitoring, core biochemistry, can also actively carry out attack or defence at trunking traffic,
And because its flight path it is complicated it is unpredictable be not easy to be hit also be conducive to escape etc..Micro flapping wing air vehicle is at civilian aspect
Also have good application prospect, in addition to traditional minute vehicle task such as photography, mapping, monitoring known to progress with
Outside, it can also load onto the cry of audio frequency apparatus simulation eagle, the bird repellent work being applied to around airport；Due to itself flight and
True butterfly is closely similar, and bionical excellent has certain ornamental value.
Invention content
The present invention passes through lot of documents retrieval and biological model using true butterfly as bionics prototype regarding to the issue above
Observation, is reduced to whole wing by butterfly front and rear wing and is designed, and then completes the Design of Mechanical Structure of bionical butterfly flapping wing aircraft.
On this basis, it is combined with remote control using PID control rate, carrying out stable flight to aircraft controls.
A kind of bionical butterfly flapping wing aircraft of fructus forsythiae of the present invention, including main trunk, wing drive component and wing component.Its
In, wing component includes left wing component and right wing component, is respectively arranged in the wing driving of main trunk front end both sides installation
On component, and mirror symmetry.Left wing component is with right wing component by outer profile bar, main drive rod, vein, fin root connector
It is constituted with elastic film.Wherein, fin root connector uses section like sector structure；The wing of left wing component and right wing component
Outer profile is made of outer profile bar, and outer profile bar rear and front end is inserted into the blind hole that fin root connector front and back position opens up solid respectively
It is fixed.
It is fixed with vein connector successively from front to back in the middle part of outer profile bar, for connecting vein, wing is made by vein
It is recessed in the middle part of wing outer profile, form the shape for imitating butterfly's wing.Outer profile bar front is fixed with main driving joint element for bar, main driving
Bar one end is connected with main driving joint element for bar, after the other end passes through the through-hole opened up on fin root connector, is fixed on wing driving
It is driven on steering engine rocking arm in component.Wing outer profile rear portion and the articulation piece installed in the middle part of main trunk are hinged.The elastic film
It is layed on wing outer profile.
To sum up, by driving steering engine to export power, it is transferred to main drive rod through steering engine rocking arm, wing is driven by main drive rod
Component swats movement.
The advantage of the invention is that：
1, the bionical butterfly flapping wing aircraft of fructus forsythiae of the present invention, using full carbon fiber design framework, comprehensive carbon fiber bar it is light-duty and
Two big advantage of high resilience, the shape of flapping wing aircraft is fixed-type, the completeness of wing can be kept in flight course
Shape can generate certain flexible deformation again, and enough lift and thrust are generated for the butterfly flapping wing aircraft；
2, the bionical butterfly flapping wing aircraft of fructus forsythiae of the present invention extends U-shaped end, in butterfly wings in wing latter half
Wing can generate opposite Passive deformation during swatting, and provide stabilizing moment for butterfly flight using this Passive deformation, realize
Increase steady effect；
3, the bionical butterfly flapping wing aircraft of fructus forsythiae of the present invention, using micro control system Integrated design, by integrated chip in small
It is designed with battery pedestal simultaneously on type circuit board, facilitates installing and dismounting again while constantly mitigating mechanical structure weight；
4, the bionical butterfly flapping wing aircraft of fructus forsythiae of the present invention, using the PID closed loop controls fed back with IMU inertia sensing units
Algorithm processed, and Kalman filtering is carried out to the angular pose of acquisition, to realize the stabilization of whole system, it is ensured that flapping wing function
It is enough accurately to realize the flight to hold position；By the supervisory controller real time correction based on CC2530 acp chips, it flies simultaneously
Human-computer interaction is realized in row track.
Description of the drawings
Fig. 1 is the bionical butterfly flapping wing aircraft overall structure diagram of fructus forsythiae of the present invention；
Fig. 2 is the main trunk structural schematic diagram of the bionical butterfly flapping wing aircraft of fructus forsythiae of the present invention；
Fig. 3 is that wing drives steering engine supporting structure schematic diagram in the bionical main trunk of butterfly flapping wing aircraft of fructus forsythiae of the present invention；
Fig. 4 is hinge mounting hole structural schematic diagram in the bionical main trunk of butterfly flapping wing aircraft of fructus forsythiae of the present invention；
Fig. 5 is controller connection mounting structure schematic diagram in the bionical main trunk of butterfly flapping wing aircraft of fructus forsythiae of the present invention；
Fig. 6 is battery connection mounting structure schematic diagram in the bionical main trunk of butterfly flapping wing aircraft of fructus forsythiae of the present invention；
Fig. 7 is wing drive component structural schematic diagram in the bionical butterfly flapping wing aircraft of fructus forsythiae of the present invention；
Fig. 8 is wing component structure diagram in the bionical butterfly flapping wing aircraft of fructus forsythiae of the present invention；
Fig. 9 is fin root connecting-piece structure schematic diagram in the wing component of the bionical butterfly flapping wing aircraft of fructus forsythiae of the present invention.
In figure：
The main trunk 2- wings drive component 3- wing components of 1-
4- micro control system 5- power supply system 101- mobile jibs
102- wing connects hinge 103- wings drive steering engine holder 104- controller connecting brackets
105- battery connecting brackets 201- drives steering engine 202- steering engine rocking arms
The main drive rod 303- veins of 301- outer profile bars 302-
304- fin root connector 305- elastic film 306- blind holes A
307- through-hole 308- blind hole B 309- blind holes C
310- blind hole D 311- blind hole E 312- vein connectors
102a- hinge mounting hole 102b- wing connecting hole 102c- lightening holes
103a- rack mounting apertures 103b- steering engine mounting hole 104a- controller rack mounting apertures
104b- controllers installation position 105a- battery bracket mounting hole 105b- clamps
Specific implementation mode
Invention is further described in detail below in conjunction with the accompanying drawings.
A kind of bionical butterfly flapping wing aircraft of fructus forsythiae of the present invention, including main trunk 1, wing drive component 2 and wing component
3, as shown in Figure 1；Wherein, wing component 3 includes left wing component and right wing component, respectively by being installed on main trunk 1
The left and right sides, and mirror symmetry.
The main trunk 1 includes mobile jib 101, wing connects hinge 102, wing driving steering engine holder 103, controller connection
Holder 104 and battery connecting bracket 105, as shown in Figure 2.Wherein, mobile jib 101 uses section for the hollow of 2mm length of side squares
Carbon fiber bar, length 260mm.It is PLA plastic structural parts that wing, which drives mounting bracket 103, as shown in Figure 3；Wing driving peace
103 center of dress holder is provided with the rack mounting apertures 103a with 101 cross-sections match of mobile jib, is driven wing by rack mounting apertures 103a
Dynamic mounting bracket 103 is sleeved on 101 front end of mobile jib and is tightly fixed.Above and below above-mentioned 103 left and right sides of wing driving mounting bracket
Symmetric position has steering engine mounting hole 103b along 101 axial design of mobile jib, is respectively intended to be installed with a set of wing driving group
Part 2.Wing connects hinge 102 is PLA plastic structural parts, is in linear type, as shown in Figure 4；102 center of wing connects hinge
It is designed with the hinge mounting hole 102a with 101 cross-sections match of mobile jib, by hinge mounting hole 102a by 102 sets of wing connects hinge
It is tightly fixed in 101 front of mobile jib, fixed position is close to 101 center of mobile jib.102 both ends of wing connects hinge are designed with
Wing connecting hole 102b is respectively intended to connect left wing component and right wing component.Above-mentioned hinge mounting hole 102a and two wings
It is also devised with lightening hole 102c between wing connecting hole 102b.Controller connecting bracket 104 is two, is PLA plastic structural parts, such as
Shown in Fig. 5, one end is designed with the controller rack mounting apertures 104a with 101 cross-sections match of mobile jib, is installed by controller holder
Two controller connecting brackets 104 are sleeved on 101 rear portion of mobile jib and are tightly fixed by hole 104a.Two controller connecting brackets 104
Bottom has controller installation position 104b, for fixing micro control system 4.Battery connecting bracket 105 is two, is ABS modelings
Expect structural member, is in mirror writing U-shaped, as shown in Figure 6；105 upper design of battery connecting bracket has the battery with 101 cross-sections match of mobile jib
Two battery connecting brackets 105 are sleeved on 101 end close-fitting of mobile jib by rack mounting apertures 105a by battery bracket mounting hole 105a
It closes and fixes.It is used for placing power supply system 5 inside the U-shaped structure of above-mentioned two battery connecting bracket 105, and by connecting in battery
105 both ends of holder are inwardly toward designed with clamp 105b, by 5 clamping fixed of power supply system.Above-mentioned wing connects hinge 102, wing
Drive mounting bracket 103, controller connecting bracket 104 and battery connecting bracket 105 adjustable in the axial upper position of main trunk 1, into
And make that left wing component, right wing component, micro control system 4,5 position of power supply system is adjustable, can according to left wing component with it is right
Wing component is swatted the composite factors such as the aerodynamic force being subject to and its own gravity and is adjusted.
2 structure of wing drive component that above-mentioned 103 left and right sides of wing driving mounting bracket is installed is identical, is symmetrically installed,
Including driving steering engine 201 and steering engine rocking arm 202, as shown in Figure 7.Wherein, driving steering engine 201 using the ultralight metal-back of superminiature,
Metal-toothed high pressure steering engine, model D0474HT 2S HV.Steering engine 201 is driven to be driven in mounting bracket 103 by bolt and wing
Steering engine mounting hole 103b cooperation, realize the fixed installation of driving steering engine 201.Driving steering engine in two sets of wing drive components 2
In 101 axis of mobile jib is generally aligned in the same plane in 201 output shaft axis and main trunk 1, and towards 1 end of main trunk, with main trunk 1
10 ° of angles are formed between middle mobile jib 101, which determines the sweepforward angle of left wing component and right wing component.Steering engine rocking arm
202 fix perpendicular to driving 201 output shaft of steering engine setting, input terminal with driving 201 output shaft of steering engine, and output end end is provided with directly
The wing of diameter 1.8mm connects blind hole 203, and wing connects 203 axis of blind hole perpendicular to driving 201 output shaft of steering engine.Two sets of wings
Drive component 2 connects blind hole 203 by the wing on steering engine rocking arm 202 and is separately connected left wing component and right wing component.
The left wing component and right wing modular construction are identical as dimensional parameters, are symmetrically disposed on main trunk 1 or so two
Side is made of outer profile bar 301, main drive rod 302, vein 303, fin root connector 304 and elastic film 305, such as Fig. 8 institutes
Show.Wherein, fin root connector 304 using section like sector structure, thickness 2.0mm, as shown in Figure 9；Fin root connector 203
In cambered surface, blind hole A306, through-hole 307, blind hole B308, blind hole C309, blind hole D310 and blind hole E311 are successively opened from front to back；
Diameter is followed successively by 1.5mm, 2.0mm, 1.2mm, 1.2mm, 1.2mm.The wing outer profile of left wing component and right wing component by
Outer profile bar 301 is constituted after bending, and outer profile bar 301 uses carbon fiber bar, before fin root connector 304 is inserted into rear and front end respectively
It is fixed in the blind hole A306 that position opens up afterwards and blind hole E311.
Fixing sleeve is used respectively there are three the vein connector 312 of three-port structure successively from front to back at outer profile bar 301 middle part
It connects three veins 303, wing outer profile is made to form the shape of imitative butterfly's wing.Wherein, three 303 one end of vein respectively with
Three vein connectors 312 are fixed, and the other end is inserted into blind hole B308, the blind hole that 304 middle part of fin root connector opens up respectively
C309 is fixed with blind hole D310.Length shortens above-mentioned three veins 303 successively from front to back, and respectively less than main drive rod 302 is grown
Degree can make 301 middle part of carbon fiber bar form recessed structures, make foreign steamer by the recessed structures from there through the vein 303 at rear portion
301 front of wide bar and rear portion evagination；By the vein 303 at middle part and front, wing outer profile central structure can be stablized, and make wing
It is seamlessly transitted between wing outer profile front and rear portion concave portion.
301 front of outer profile bar is fixed with the main driving joint element for bar 313 of three-port structure, is located at front concave portion
Place, for connecting main drive rod 302.The main drive rod 302 be diameter 1.5mm, length 350mm solid carbon fiber bar, one
End is connected with main driving joint element for bar 312, after the other end passes through the through-hole that fin root connector 304 opens up, is inserted into wing driving group
Wing connection blind hole 203 in part 2 on steering engine rocking arm 202 is fixed；And ensure that fin root connector 304 is close to steering engine rocking arm 202
Output end；Power is exported from there through driving steering engine 201, main drive rod 302 is transferred to through steering engine rocking arm 202, by main drive rod
302 driving wing components 3 swat movement.
Above-mentioned vein connector 306, main driving joint element for bar 313, fin root connector 304, main drive rod 302 and vein
303 are all made of PLA material, are made using 3D printing.The U-shaped structure of concave portion at wing outer profile rear portion, reaches stable work
With；And rear portion concave portion is fixed in the wing connecting hole 102b of 102 end of wing connects hinge in main trunk 1, realizes wing
Fixation between wing component 3 and main trunk 1, the final flip-flop movement for realizing wing component 3 is without whipping.
The elastic film 305 is TPU elastic films, is cut to be formed according to wing outer profile, is layed in wing outer profile
On, ultimately form bionical butterfly aircraft.
Heretofore described micro control system 3 is the PCB printed circuits of long 30mm, width 20mm, thickness 1.2mm, is integrated with 1
A IMU (Inertial Measurement Unit) include three uniaxial accelerometers and three uniaxial gyros, 1
ZigBee ultra-low power consumption wireless communication modules pass through tune for timely feedbacking the posture and flight path of current bionical butterfly aircraft
Whole dipteron swats rule, ensures the stability of bionical butterfly aircraft flight.Left wing component and the driving in right wing component
Steering engine 201 is connected by 6 0.2mm conducting wires with the pad solder of the output control of micro control system 3；The pcb board of micro control system
Upper setting connects through-hole, is connected with 2 controller connecting brackets by screw, keeps its position adjustable, imitative convenient for being adjusted in test
Raw butterfly aircraft center of gravity.Different control is exported from there through ZigBee ultra-low power consumption wireless communication modules micro control system 3
Instruction is independent to drive left wing component and the driving steering engine 201 in right wing component, and then controls the bionical butterfly flight of the present invention
The left wing component of device swats movement with right wing component, and frequency is swatted by change left wing component and right wing component
And whole story phase, so that bionical butterfly aircraft efficient stable is completed the actions such as pitching, yaw, realizes bionical butterfly aircraft
Autonomous flight.
Heretofore described power supply system 4 includes battery and regulator 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
It is connected by 0.2mm silvery enameled wires, 7V to the 7.6V voltages that lithium battery exports is stabilized to respectively by Voltage stabilizing module and are watched
Take 201 required 7.4V voltages of motor and the IMU and required 3.3V of ZigBee module.
The bionical butterfly aircraft of the present invention obtains fortune the most efficient by pitch attitude, the experiment test of propulsive efficiency
Dynamic model formula swats wing with 1-2 times per second frequency, the position for starting to swat is to be with 1 place horizontal plane angle of main trunk
60 ° of position, under flutter the position that angle is -10 °, then on flutter, swat, calculated by experiment up and down in this format, the present invention
The maximum speed of bionical butterfly aircraft can reach 1.5m/s, and the 180mAh lithium batteries of flight 3-4 minutes, power supply system 4 need
Fill 15 minutes electricity.
Claims (7)
1. a kind of bionical butterfly flapping wing aircraft of fructus forsythiae, including main trunk, wing drive component and wing component；Wherein, wing
Component includes left wing component and right wing component, is respectively arranged on the wing drive component of main trunk front end both sides installation,
And mirror symmetry；It is characterized in that：
Left wing component is with right wing component by outer profile bar, main drive rod, vein, fin root connector and elastic film structure
At；Wherein, fin root connector uses section like sector structure；The wing outer profile of left wing component and right wing component is by foreign steamer
Wide bar is constituted, and outer profile bar rear and front end is inserted into the blind hole that fin root connector front and back position opens up fixed respectively；
It is fixed with vein connector successively from front to back in the middle part of outer profile bar, for connecting vein, is made outside wing by vein
It is recessed in the middle part of profile, form the shape for imitating butterfly's wing；Outer profile bar front is fixed with main driving joint element for bar, main drive rod one
End is connected with main driving joint element for bar, after the other end passes through the through-hole opened up on fin root connector, is fixed on wing drive component
On middle driving steering engine rocking arm；Wing outer profile rear portion and the articulation piece installed in the middle part of main trunk are hinged；
The elastic film is layed on wing outer profile.
2. a kind of bionical butterfly flapping wing aircraft of fructus forsythiae as described in claim 1, it is characterised in that：Vein connector is three,
It is corresponding that three vein connectors are installed in the middle part of outer profile bar；Length shortens three veins successively from front to back, and is respectively less than and leads
Drive pole length.
3. a kind of bionical butterfly flapping wing aircraft of fructus forsythiae as described in claim 1, it is characterised in that：Vein connector, main driving
Joint element for bar, fin root connector, main drive rod and vein are all made of PLA material, are made using 3D printing；Outer profile bar uses carbon
Fiber rod.
4. a kind of bionical butterfly flapping wing aircraft of fructus forsythiae as described in claim 1, it is characterised in that：Wing outer profile rear portion is in U
Type structure.
5. a kind of bionical butterfly flapping wing aircraft of fructus forsythiae as described in claim 1, it is characterised in that：Elastic film is TPU elasticity
Film.
6. a kind of bionical butterfly flapping wing aircraft of fructus forsythiae as described in claim 1, it is characterised in that：Further include micro control system,
The micro control system is PCB printed circuits, is integrated with 1 IMU, including three uniaxial accelerometers and three it is uniaxial
Gyro, 1 ZigBee ultra-low power consumption wireless communication module, for timely feedbacking the posture and boat of current bionical butterfly aircraft
Mark；Left wing component passes through the pad solder phase of conducting wire and micro control system output control with the driving steering engine in right wing component
Even.
7. a kind of bionical butterfly flapping wing aircraft of fructus forsythiae as claimed in claim 6, it is characterised in that：Further include power supply system, institute
The power supply system stated includes battery and regulator circuit；Battery uses the lithium polymer battery of 2 pieces of 120mAh；The lithium of 2 pieces of 120mAh
Polymer battery is connected；Pass through silvery enameled wire phase between battery and Voltage stabilizing module and between Voltage stabilizing module and micro control system
Even, 7V to 7.6V voltages that lithium battery export are stabilized to respectively by Voltage stabilizing module drive the required 7.4V voltages of steering engine and
IMU and the required 3.3V voltages of ZigBee module.
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 |
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| 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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| CN106184746B true 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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Families Citing this family (12)
| 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 |
| CN107867396B (en) * | 2017-11-06 | 2019-11-08 | 北京科技大学 | A kind of flapping wing aircraft and flapping wing aircraft driving method of servo driving |
| 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 |
| 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 |
| CN109972093B (en) * | 2019-03-22 | 2021-06-15 | 中车工业研究院有限公司 | High polymer bionic configuration photothermal conversion material and preparation method and application thereof |
| CN110329505B (en) * | 2019-06-12 | 2022-03-22 | 南京理工大学 | Bionic hummingbird aircraft |
| CN110667840B (en) * | 2019-10-29 | 2021-09-21 | 北京科技大学 | Novel butterfly-imitating flapping-wing aircraft |
| CN110816827B (en) * | 2019-11-15 | 2023-08-29 | 河海大学常州校区 | Bionic butterfly flapping-wing aircraft |
| CN112278267B (en) * | 2020-10-28 | 2022-03-22 | 北京航空航天大学 | Bionic flapping wing aircraft and control method thereof |
| CN113335521B (en) * | 2021-06-07 | 2023-12-22 | 中国科学院合肥物质科学研究院 | High-maneuverability ornithopter type bionic bat aircraft with flexible structure and flight control method thereof |
| CN116360492B (en) * | 2023-04-03 | 2024-01-30 | 北京科技大学 | Object tracking method and system for flapping wing flying robot |
| CN116513516B (en) * | 2023-05-06 | 2024-03-12 | 中南大学 | Bionic butterfly aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005068036A1 (en) * | 2004-01-20 | 2005-07-28 | Hideyuki Hirai | Flapping mechanism |
| CN201643710U (en) * | 2010-02-11 | 2010-11-24 | 乐山师范学院 | Butterfly directional aircraft |
| EP2675708A4 (en) * | 2011-02-17 | 2014-09-10 | Georgia Tech Res Inst | Hovering and gliding multi-wing flapping micro aerial vehicle |
| CN203318008U (en) * | 2013-05-23 | 2013-12-04 | 福州旭邦进出口贸易有限公司 | Butterfly capable of automatically swinging wings |
| CN203601565U (en) * | 2013-08-01 | 2014-05-21 | 常州金刚文化科技集团有限公司 | Bionic robot with butterfly-shaped mechanism |
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