CN109436319A - Flapping wing aircraft wing agitates the transmission controlling mechanism of frequency, direction and amplitude - Google Patents
Flapping wing aircraft wing agitates the transmission controlling mechanism of frequency, direction and amplitude Download PDFInfo
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- CN109436319A CN109436319A CN201811320242.3A CN201811320242A CN109436319A CN 109436319 A CN109436319 A CN 109436319A CN 201811320242 A CN201811320242 A CN 201811320242A CN 109436319 A CN109436319 A CN 109436319A
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- amplitude
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- drive shaft
- frequency
- main drive
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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 invention discloses the transmission controlling mechanisms that a kind of flapping wing aircraft wing agitates frequency, direction and amplitude, it include: that curved end is inserted into the fixed bracket formation kinematic pair of a wing, there are two parallel strips in the centre of bracket, the distance between strip is the diameter of curved end, guarantees the tangent insertion of main drive shaft curved end to form bayonet；Machine frame inside includes: direction controlling motor, motor output shaft connects driving wheel, and driving wheel drives direction driving driven wheel rotation, and driven wheel is connected by flange bearing with main drive shaft, realize and main drive shaft independently rotate mutually so that flapping wing agitate direction change and frequency change it is mutually indepedent；Machine frame inside further include: the amplitude controlling motor of amplitude, amplitude controlling motor output end connecting crank rocker device are agitated in control, and the screw thread axle sleeve of main rod end is connected with the translation sleeve with identical screw thread；The barrel forward end that is translatable has barb, it is made to have relative translational movement in main drive shaft axial direction with axle sleeve is shunk, and realizes and agitates the change of amplitude and agitate the change in direction mutually indepedent.
Description
Technical field
The present invention relates to aircraft fields more particularly to a kind of flapping wing aircraft wing to agitate frequency, direction and amplitude
Transmission controlling mechanism.
Background technique
With the development of vehicle technology, have become the forward position of aircraft research field for the research of flapping wing aircraft
Project.Bionic flapping-wing flying vehicle can simulate birds, dragonfly in nature etc. and equally fly, and have certain flight efficiency, hang
Stopping property, wind resistance, mobility are a kind of subversiveness technology and hot spot of current aircraft development also superior to more rotors and fixed-wing
Direction is with a wide range of applications.
Current most of flapping wing aircrafts imitate the skeleton of birds wing using complicated link mechanism,
Come realize the fold of aircraft agitate, the variation in amplitude and direction.Patent CN 104443378A, publication date 2015.03.25
A kind of imitative bird flapping wing aircraft is proposed, which employs a large amount of crank and rocker mechanisms, although link mechanism combination aerodynamics
True birds wing can be restored as much as possible, but excessively complicated connecting rod does not have flapping wing aircraft at this stage
The small advantage of miniaturization size, while when direction is agitated in transformation, complicated connecting rod cannot preferably reach wanting for conversion direction
It asks, and be easy to cause internal intervention, bring difficulty to design assembly.Patent CN 106828924A, publication date 2017.06.13
A kind of novel bionical dragonfly flapping wing mechanism is proposed, complicated link mechanism has been abandoned, has driving force transmitting direct, high
The characteristics of effect, intermediate conversion component is few, and low energy consumption, but it is just for the control for agitating frequency and direction, it can not regulation fan
, there is limitation in flight course in dynamic amplitude.
Summary of the invention
The present invention provides the transmission controlling mechanism that a kind of flapping wing aircraft wing agitates frequency, direction and amplitude, this hairs
It is bright that flexibility and safety when wing direction of rotation are improved by the diminution existing size of flapping wing aircraft, while realizing to fan
The control of dynamic frequency, direction and amplitude, described below:
A kind of flapping wing aircraft wing agitates the transmission controlling mechanism of frequency, direction and amplitude, comprising: hollow rack and
Four identical flapping wing mechanism compositions,
The flapping wing mechanism includes: the curved main drive shaft in front end, and curved end is inserted into the fixed bracket of a wing and forms fortune
There are two parallel strips in dynamic pair, the centre of bracket, and the distance between strip is the diameter of curved end, guarantee master to form bayonet
The tangent insertion in bent propeller shat end；Curved end drives bracket to swing, and cause the wing mutually fixed with bracket agitates frequency shift；
The machine frame inside includes: four direction controlling motors, and motor output shaft connects direction and drives driving wheel, driving wheel
Direction driving driven wheel rotation is driven, the driven wheel is connected by flange bearing with main drive shaft, realizes and main drive shaft is mutual
Mutually independent rotation so that flapping wing agitate direction change and frequency change it is mutually indepedent；
The machine frame inside further include: four control the amplitude controlling motor for agitating amplitude, amplitude controlling motor output end
Connect a crank and rocker mechanism being made of crank and connecting rod, the screw thread axle sleeve of main rod end, with the translation for having identical screw thread
Sleeve is connected, by the translation for being converted into translation sleeve of screw thread axle sleeve；The barrel forward end that is translatable has barb, makes it with contraction
Axle sleeve has relative translational movement in main drive shaft axial direction, realizes and agitates the change of amplitude and agitate the change in direction mutually indepedent.
Further, the machine frame inside further include: two main drive motors and gear set transmit the motion to the four of wing
Root main drive shaft realizes the rotary motion of drive shaft, and there are four the mounting holes of angled main drive shaft for Shelf External, protect
Four flapping wing mechanisms are demonstrate,proved to have a certain degree without interfering.
Wherein, four pillars insertion on the driven wheel is shunk in four holes of axle sleeve, shrinks axle sleeve front end and wing
Fixed bracket is connected.
Further, the driving wheel drives driven wheel rotation, and four pillars of driven wheel drive contraction axle sleeve to turn over phase
Same angle, contraction axis set drive the support bracket fastened rotation of front end wing, the change in direction are agitated so as to cause wing.
Wherein, there are four bayonets and the protrusion of front end of rack to cooperate for the translation sleeve, makes the change for agitating amplitude and frequency
The change of rate is mutually indepedent.
When specific implementation, the curved end and strip form kinematic pair, and by kinematic pair, the rotary motion of curved end turns
Become bracket and its swing with contraction axle sleeve junction for axis, realizes the transformation of Plane of rotation.
The beneficial effect of the technical scheme provided by the present invention is that:
1, the flapping wing aircraft that designs of the present invention avoids the complicated transmission of link mechanism, by the way of directly driving, with compared with
Few part, better simply mode constitute flapping wing mechanism, reduce complexity when assembly and analysis, and can guarantee its safety
Property and flexibility；
2, the flapping wing aircraft that the present invention designs avoids the complicated transmission of link mechanism, by the way of electric-machine directly-driven,
The size for greatly reducing part is conducive to the lightweight and micromation of flapping wing aircraft；
3, the flapping wing aircraft that the present invention designs, which can be achieved at the same time, agitates frequency to wing, agitates direction and agitates amplitude
Transmission and control, and three kinds of controls are mutually indepedent.
Detailed description of the invention
Fig. 1 is flapping wing mechanism overall structure cross-sectional view provided by the invention；
Fig. 2 is the partial structurtes enlarged diagram for controlling wing in flapping wing mechanism provided by the invention and agitating frequency；
Fig. 3 is the partial structurtes enlarged diagram for controlling wing in flapping wing mechanism provided by the invention and agitating direction；
Fig. 4 is the partial structurtes enlarged diagram for controlling wing in flapping wing mechanism provided by the invention and agitating amplitude；
Fig. 5 is flapping wing mechanism overall schematic provided by the invention.
In figure:
1, main drive shaft；2, direction drives driven wheel；
3, flange bearing；4, screw thread axle sleeve；
5, be translatable sleeve；6, axle sleeve is shunk；
7, strip；8, direction drives driving wheel；
9, amplitude controlling motor；10, connecting rod；
11, crank；12, the fixed bracket of wing；
13, wing；14, rack；
15, direction controlling motor；16, gear set.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, embodiment of the present invention is made below further
Ground detailed description.
Embodiment 1
To solve the above-mentioned problems, the embodiment of the present invention propose a kind of flapping wing aircraft wing agitate frequency, direction and
The transmission controlling mechanism of amplitude realizes that wing agitates the control of frequency, direction and amplitude using a kind of relatively simple flapping wing mechanism
System, and the requirement of flexibility, safety and micromation can be reached.
The flapping wing aircraft is mainly made of a hollow rack 14 and four identical flapping wing mechanisms.Inside rack 14
There are two main drive motors and gear set, transmit the motion to four main drive shafts 1 of wing 13, realizes the rotation fortune of drive shaft
Dynamic, 14 outside of rack guarantees that four flapping wing mechanisms have a certain degree there are four the mounting hole of angled main drive shaft 1
Without interfering.
Each flapping wing mechanism has the curved main drive shaft 1 in a front end, and 1 curved end of main drive shaft is inserted into a wing and is fixed
Bracket 12 forms kinematic pair.Fixed 12 front end of bracket of wing, which is bolted wing 13, ensures its stabilization, the centre of bracket 12
There are two parallel strips 7, the distance between strip 7 is the diameter of 1 curved end of main drive shaft, guarantees main driving to form bayonet
The tangent insertion of 1 curved end of axis, during agitating, curved end is tangent with bayonet always and does not depart from.By changing main drive shaft 1
Revolving speed, 1 curved end of main drive shaft drives bracket 12 to be swung, so as to cause agitating for the wing 13 fixed with 12 phase of bracket
The change of frequency.
There are also four direction controlling motors 15, motor output shaft connects direction and drives driving wheel 8, driving wheel 14 inside of rack
8 drive direction driving driven wheel 2 to rotate, which is connected by flange bearing 3 with main drive shaft 1, thus realization and main drive
The independent rotation mutually of moving axis 1 so that flapping wing agitate direction change and frequency change it is mutually indepedent.
Four pillars insertion on driven wheel 2 is shunk in four holes of axle sleeve 6, and 6 front end of axle sleeve and the fixed branch of wing are shunk
Frame 12 is connected.When direction controlling motor 15 rotates, driving wheel 8 drives driven wheel 2 to rotate, four pillar bands of driven wheel 2
The dynamic axle sleeve 6 that shrinks turns over identical angle, the rotation that axle sleeve 6 drives the fixed bracket 12 of front end wing is shunk, so as to cause wing
13 agitate the change in direction.
Such as Fig. 4, there are also the amplitude controlling motor 9 that amplitude is agitated in four controls, amplitude controlling motors 9 to export for 14 inside of rack
One crank and rocker mechanism being made of crank 11 and connecting rod 10 of end connection, main rod end are the thread spindles for having larger screw pitch
Set 4 is connected with the translation sleeve 5 with identical screw thread.The cooperation of the two is similar to feed screw nut and lead screw, by screw thread axle sleeve 4
Be converted into translation sleeve 5 translation.5 front end of sleeve be translatable with barb, makes it can be with contraction axle sleeve 6 in main drive shaft
There is relative translational movement in 1 axial direction, but rotated without with translation sleeve 5, to ensure that the change for agitating amplitude and the side of agitating
To change it is mutually indepedent.
Meanwhile there are four the protrusions of bayonet and 14 front end of rack to cooperate for the sleeve 5 that is translatable, thus make to agitate the change of amplitude with
The change of frequency is mutually indepedent.This is arrived, the change for agitating frequency, direction and amplitude three of wing 13 is mutually independent.Work as vibration
When width control motor 9 drives crank 11 to turn over an angle, crank 11 and connecting rod 10 drive screw thread axle sleeve 4 to rotate, screw thread axle sleeve 4
Rotation is switched to be translatable by the translation sleeve 5 with identical screw thread, translation sleeve 5, which drives, shrinks axle sleeve 6 and the fixed branch of wing
Frame 12 carries out identical translation in 1 axial direction of main drive shaft, and this be translatable causes the point of contact of main drive shaft 1 curved end and strip 7
It changes, and agitating amplitude is determined by the points of tangency to the distance of 1 rotation center of main drive shaft, that is to say, that it is this
Translation causes the change of 1 curved end points of tangency radius of turn of main drive shaft, eventually leads to the change that wing 13 agitates amplitude.
In conclusion the embodiment of the present invention by reduce the existing size of flapping wing aircraft, improve wing direction of rotation when
Flexibility and safety, while realizing the control to frequency, direction and amplitude is agitated.
Embodiment 2
The embodiment of the present invention by from flapping wing aircraft wing agitate frequency, direction and amplitude three in terms of be unfolded, specifically
Embodiment is as follows:
As described in figures 1 and 5, which includes a hollow rack 14, and rack 14 is surrounded by four masters
One end of drive shaft 1, main drive shaft 1 is connected with gear set 16, and the other end then passes through the driving shaft mounting hole of rack 14, main drive
1 front end of moving axis has a curved end, and 1 curved end of main drive shaft is inserted into the fixed bracket 12 of wing and forms kinematic pair, among bracket
Two parallel strips 7, the distance between strip 7 guarantee that 1 curved end of main drive shaft can be completed to constrain, can remain and agitate
Wing does not depart from, and the revolving speed of main drive shaft 1 then can directly determine that it agitates frequency.And for agitating direction, in rack 14
Four direction controlling motors 15 are additionally provided with, direction controlling motor 15 is connected directly with direction driving driving wheel 8, driving wheel 8 and side
It is engaged to driving driven wheel 2.Direction drives driven wheel 2 and main drive shaft 1 to form prismatic pair, while in the nesting of flange bearing 3
Under, in a rotational direction not by the constraint of main drive shaft 1 so that agitate it is directionally independent in agitating frequency, by direction controlling motor
15 uniquely determine.Amplitude controlling motor 9 is arranged at the bottom of rack 14, and amplitude controlling motor 9 is connected with crank and rocker mechanism 11, in turn
The rotation of screw thread axle sleeve 4 can be controlled, the peaceful moving sleeve 5 of screw thread axle sleeve 4 has identical screw pitch, converts translation for rotation.It is flat
Moving sleeve 5 drives contraction axle sleeve 6 and the fixed bracket 12 of wing to be translatable on 1 direction of main drive shaft, changes the bending of main drive shaft 1
The cusp position at end and strip 7, and then change wing 13 agitates amplitude.
In the present embodiment, as depicted in figs. 1 and 2, two main drive motors inside rack 14 respectively drive left and right two
Totally four wings are agitated for side.Transmission is realized by gear set 16 inside rack 14, therefore 1 revolving speed of main drive shaft of motor is control
Wing 13 agitates the fundamental basis of frequency.
Using one of flapping wing mechanism as research object, what is be connected with gear set is the curved main drive shaft in front end
1,1 curved end of main drive shaft is inserted among two strips 7 of the fixed bracket 12 of wing.Strip 7 is located in the fixed bracket 12 of wing,
Between formed certain distance bayonet guarantee 1 curved end of main drive shaft tangent can be inserted into, and during the motion always with
Strip 7 is tangent.Wing 13 is finally inserted the fixed 12 front end blending bolt of bracket of wing and is connected, and guarantees wing 13 and the fixed branch of wing
Frame 12 has the identical characteristics of motion.The novel place of this mechanism is 1 curved end of main drive shaft with the formation of strip 7 such as Fig. 4
Kinematic pair.By the kinematic pair, the rotary motion of 1 curved end of main drive shaft, be changed into the fixed bracket 12 of wing and its with
Shrink the swing that 6 junction of axle sleeve is axis, to dexterously realize the transformation of Plane of rotation, greatly saved space and at
This.
In the present embodiment, such as Fig. 1 and Fig. 3, there are four the sides that control flapping wing mechanism agitates direction for the installation of 14 bottom end of rack
To control motor 15,15 output shaft of direction controlling motor drives direction driving driving wheel 8 to rotate, and direction drives driving wheel 8 and side
It is meshed to driving driven wheel 2.Direction drives four pillars insertion of 2 front end of driven wheel to shrink in axle sleeve 6, guarantees to shrink axle sleeve
6 turn over same angle with driven wheel 2.Driven wheel 2 is mounted in rack 14 by flange bearing 3, so that when main drive shaft 1 rotates
When wing 13 being driven to agitate frequency shift, driven wheel 2 is not rotated with main drive shaft 1, to make the change for agitating frequency
Dependent on the revolving speed of main drive shaft 1, and the change of angle is agitated to only depend on direction controlling motor 15, the two is mutual independently of each other not
It influences, is conducive to analyze respectively and control agitates frequency and agitates direction, reduce the complexity of installation and analysis.Work as direction
When controlling the rotation of motor 15, driving wheel 8 drives driven wheel 2 to rotate, and four pillars drive of driven wheel 2 shrinks axle sleeve 6 and turns over phase
Same angle shrinks the rotation that axle sleeve 6 drives the fixed bracket 12 of front end wing, the change in direction is agitated so as to cause wing 13.
In the present embodiment, such as Fig. 1 and Fig. 4, there are four the vibrations that control flapping wing mechanism agitates amplitude for the installation of 14 bottom end of rack
Width controls motor 9, and the output shaft of amplitude controlling motor 9 passes through a crank and rocker mechanism band being made of crank 11 and connecting rod 10
The screw thread axle sleeve 4 for shaking rod end turns over certain angle (0 to 90 °), and screw thread axle sleeve 4 is connected with translation sleeve 5.Outside screw thread axle sleeve 4
There is the screw thread of identical pitch inside portion and translation sleeve 5, by screw thread pair, converts translation set for the rotation of screw thread axle sleeve 4
Translation of the cylinder 5 on main drive shaft 1.Since there are two extreme positions for crank and rocker mechanism, the sleeve 5 that is translatable is in main driving
Translation on axis 1 respectively corresponds minimum amplitude that wing 13 is agitated and most there is also most inboard and two extreme positions of outermost
Large amplitude.The groove of translation sleeve 5 is matched with the protrusion of main drive shaft 1, it is ensured that its stability in translational direction, together
When also ensure that the translation of translation sleeve 5 and rotation are mutually indepedent, to be conducive to analyze and control agitating for wing 13 respectively
Frequency and agitate amplitude.
The barb of translation 5 front end of sleeve is connected with axle sleeve 6 is shunk, and guarantees that the peaceful moving sleeves 5 of contraction axle sleeve 6 are having the same
Translation rule, but rotation is independent of each other, so that wing 13 agitates direction and agitates the change of amplitude mutually indepedent, reduces
The complexity of installation and analysis.When contraction axle sleeve 6 is translatable, drives the fixed bracket 12 of wing to be translatable, drive winner
1 curved end of moving axis and the points of tangency of strip 7 change, and the distance of points of tangency to 1 rotation center of main drive shaft determines bracket
12 two extreme positions swung, the i.e. translation of shrinkage sleeve 6 cause changing for 1 curved end point of contact radius of turn of main drive shaft
Become, finally change wing 13 agitates amplitude.
In conclusion the maximum advantage of this flapping wing aircraft is to have used a kind of relatively simple flapping wing mechanism reality simultaneously
Frequency, the control in direction and amplitude now are agitated to wing, and three kinds of controls are independent of each other independently of each other.It not only can guarantee in this way
The flexibility and safety of flapping wing aircraft, are conducive to the micromation of aircraft, and also reduce mechanism design, motion analysis
With the complexity of control, guarantee is provided for the more smart metastable flight of flapping wing aircraft.
The embodiment of the present invention to the model of each device in addition to doing specified otherwise, the model of other devices with no restrictions,
As long as the device of above-mentioned function can be completed.
It will be appreciated by those skilled in the art that attached drawing is the schematic diagram of a preferred embodiment, the embodiments of the present invention
Serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (6)
1. the transmission controlling mechanism that a kind of flapping wing aircraft wing agitates frequency, direction and amplitude characterized by comprising in
Empty rack and four identical flapping wing mechanism compositions,
The flapping wing mechanism includes: the curved main drive shaft in front end, and curved end is inserted into the fixed bracket of a wing and forms kinematic pair,
There are two parallel strips in the centre of bracket, and the distance between strip is the diameter of curved end, guarantees main driving to form bayonet
The tangent insertion in bending shaft end；Curved end drives bracket to swing, and cause the wing mutually fixed with bracket agitates frequency shift；
The machine frame inside includes: four direction controlling motors, and motor output shaft connects direction and drives driving wheel, and driving wheel drives
Direction drives driven wheel rotation, and the driven wheel is connected by flange bearing with main drive shaft, realizes and main drive shaft is only mutually
Vertical rotation so that flapping wing agitate direction change and frequency change it is mutually indepedent；
The machine frame inside further include: four control the amplitude controlling motor for agitating amplitude, the connection of amplitude controlling motor output end
One crank and rocker mechanism being made of crank and connecting rod, the screw thread axle sleeve of main rod end, with the translation sleeve for having identical screw thread
It is connected, by the translation for being converted into translation sleeve of screw thread axle sleeve；The barrel forward end that is translatable has barb, makes it with contraction axle sleeve
There is relative translational movement in main drive shaft axial direction, realizes and agitate the change of amplitude and agitate the change in direction mutually indepedent.
2. a kind of flapping wing aircraft wing according to claim 1 agitates the transmission controlling mechanism of frequency, direction and amplitude,
It is characterized in that, the machine frame inside further include: two main drive motors and gear set transmit the motion to four main drives of wing
Moving axis realizes the rotary motion of drive shaft, and there are four the mounting holes of angled main drive shaft for Shelf External, guarantee four
Flapping wing mechanism has a certain degree without interfering.
3. a kind of flapping wing aircraft wing according to claim 1 agitates the transmission controlling mechanism of frequency, direction and amplitude,
It is characterized in that, four pillars insertion on the driven wheel is shunk in four holes of axle sleeve, shrinks axle sleeve front end and wing is solid
Fixed rack is connected.
4. a kind of flapping wing aircraft wing according to claim 1 agitates the transmission controlling mechanism of frequency, direction and amplitude,
It is characterized in that, the driving wheel drives driven wheel rotation, four pillars of driven wheel drive contraction axle sleeve to turn over identical angle
Degree, contraction axis set drive the support bracket fastened rotation of front end wing, the change in direction are agitated so as to cause wing.
5. a kind of flapping wing aircraft wing according to claim 1 agitates the transmission controlling mechanism of frequency, direction and amplitude,
It is characterized in that, there are four bayonets and the protrusion of front end of rack to cooperate for the translation sleeve, make the change for agitating amplitude and frequency
Change it is mutually indepedent.
6. a kind of flapping wing aircraft wing according to claim 1 agitates the transmission controlling mechanism of frequency, direction and amplitude,
It is characterized in that, the curved end and strip form kinematic pair, by kinematic pair, the rotary motion of curved end is changed into bracket
And its with shrink axle sleeve junction be axis swing, realize the transformation of Plane of rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811320242.3A CN109436319A (en) | 2018-11-07 | 2018-11-07 | Flapping wing aircraft wing agitates the transmission controlling mechanism of frequency, direction and amplitude |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811320242.3A CN109436319A (en) | 2018-11-07 | 2018-11-07 | Flapping wing aircraft wing agitates the transmission controlling mechanism of frequency, direction and amplitude |
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| CN109436319A true CN109436319A (en) | 2019-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811320242.3A Pending CN109436319A (en) | 2018-11-07 | 2018-11-07 | Flapping wing aircraft wing agitates the transmission controlling mechanism of frequency, direction and amplitude |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021039209A1 (en) * | 2019-08-27 | 2021-03-04 | 国立研究開発法人宇宙航空研究開発機構 | Morphing wing, flight control device, flight control method, and program |
| CN112693604A (en) * | 2021-01-31 | 2021-04-23 | 上海白林工业设计有限公司 | Bionic flapping wing aircraft |
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| CN106364672A (en) * | 2016-10-21 | 2017-02-01 | 沈小沉 | Ornithopter with elastic wings |
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| CN108528711A (en) * | 2018-04-11 | 2018-09-14 | 浙江大学 | The flapping wings of a kind of variable amplitude and pitch angle are fluttered structure |
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| CN1915742A (en) * | 2006-09-01 | 2007-02-21 | 北京大学 | Sine driving mechanism with adjustable amplitude of oscillation for mechanical dolphin |
| FR2921340A1 (en) * | 2007-09-20 | 2009-03-27 | Univ Paris Sud | FLYING WING ENGINE |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021039209A1 (en) * | 2019-08-27 | 2021-03-04 | 国立研究開発法人宇宙航空研究開発機構 | Morphing wing, flight control device, flight control method, and program |
| GB2601088A (en) * | 2019-08-27 | 2022-05-18 | Japan Aerospace Exploration | Morphing wing, flight control device, flight control method, and program |
| GB2601088B (en) * | 2019-08-27 | 2023-10-04 | Japan Aerospace Exploration | Morphing wing, flight control device, flight control method, and program |
| CN112693604A (en) * | 2021-01-31 | 2021-04-23 | 上海白林工业设计有限公司 | Bionic flapping wing aircraft |
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