CN109592029A - A kind of imitative bird micro flapping wing air vehicle - Google Patents
A kind of imitative bird micro flapping wing air vehicle Download PDFInfo
- Publication number
- CN109592029A CN109592029A CN201811584417.1A CN201811584417A CN109592029A CN 109592029 A CN109592029 A CN 109592029A CN 201811584417 A CN201811584417 A CN 201811584417A CN 109592029 A CN109592029 A CN 109592029A
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- China
- Prior art keywords
- flapping wing
- rack
- flapping
- connecting rod
- empennage
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
A kind of imitative bird micro flapping wing air vehicle, including rack, driving mechanism, control mechanism, lithium battery, steering mechanism, left flapping mechanism, left flapping wing, right flapping mechanism, right flapping wing, empennage and luffing mechanism；The driving mechanism is mounted on the rack, the left flapping mechanism and right flapping mechanism are separately mounted to rack two sides, it is driven by driving mechanism, and be connected respectively with the left flapping wing with right flapping wing, it controls the left flapping wing and right flapping wing flutters and the left flapping wing and right flapping wing end movement track is made to be the spherical surface figure of eight；The steering mechanism is mounted on the rack, and controls this aircraft left and right turn；The luffing mechanism is mounted on the rack, and is controlled the empennage and is swung up and down；The lithium battery provides power for this aircraft, and the control mechanism receives external signal and controls aircraft entirety state of flight.Present invention the problems such as structure is complicated, flight is unstable, flight efficiency is low, bionical degree is not high to solve current flapping wing aircraft.
Description
Technical field
The invention belongs to vehicle technology field more particularly to a kind of imitative bird micro flapping wing air vehicles.
Background technique
Birds in nature possess the flight performance for making us gasp in admiratioing, flying method attracts always grinding for people
Study carefully.The athletic posture of wing generally can simplify to flutter up and down when Bird Flight, tangential torsion and front and back are plunderred.Research shows that
When Bird Flight the track of wing end at the figure of eight when have highest flight efficiency.For the flight characteristic of birds, people
Various imitation birds have been invented to flap using wing to provide the flapping wing aircraft of lift and rotation.Flapping wing aircraft exists
Civil and military etc. has great application prospects and development space.But imitative bird flapping wing aircraft one common at present
As be all the single-degree-of-freedom flapping wing structure that can only be fluttered up and down, flight efficiency is low, and state of flight is unstable, steering structure control
Complexity or flapping wing have a multiple degrees of freedom but flapping wing structure is complicated, it is difficult to be miniaturized, and ask there are bionical degree is not high
Topic.
Summary of the invention
The present invention provides a kind of imitative bird micro flapping wing air vehicle, and to solve current flapping wing aircraft, structure is complicated, it is tired to turn to
Difficult, unstable, the low problem of flight efficiency of flying.
In order to achieve the above objectives, the specific technical solution that the present invention uses is as follows: a kind of imitative bird micro flapping wing air vehicle, packet
Including rack, driving mechanism, control mechanism, lithium battery, steering mechanism, left flapping mechanism, left flapping wing, right flapping mechanism, right flapping wing,
Empennage and luffing mechanism；Wherein the driving mechanism is mounted on the rack, the left flapping mechanism and right flapping mechanism
The rack two sides are separately mounted to, are driven by the driving mechanism, and are connected respectively with the left flapping wing with right flapping wing, are controlled
The left flapping wing and right flapping wing flutter and the left flapping wing and right flapping wing end movement track are made to be the spherical surface figure of eight；It is described
Steering mechanism is mounted on the rack, and controls this aircraft left and right turn；The luffing mechanism is mounted on the rack, control
The empennage is made to swing up and down；The lithium battery provides power for this aircraft, and the control mechanism receives external signal and controls
Aircraft entirety state of flight processed.
Further, the driving mechanism include driving gear, reduction gearing one, reduction gearing two, gear wheel, motor,
Disk, wherein the gear wheel and the disk are installed along with the rack two sides, the gear wheel and institute by connecting shaft
The engagement of reduction gearing two is stated, the reduction gearing one and reduction gearing two are coaxially connected, the reduction gearing one and driving gear
Engagement, the driving gear 201 are connected in the rotation axis of motor, and the motor is fixed in the rack.
Preferably, the disk in the driving mechanism is identical as the gear wheel outer diameter, and the disk can be replaced institute
State gear wheel.
Further, the left flapping mechanism includes connecting rod one, connecting rod two, connecting rod three, connecting rod four, universal joint, baffle,
Described in one one end of connecting rod be connected with the gear wheel or disk, the other end is connected with the connecting rod two, the connecting rod two with even
Bar three is connected, and the connecting rod three is connected with connecting rod three, and the connecting rod four is connected with the universal joint, and the left flapping wing is fixed on institute
It states on connecting rod four, the universal joint is fixed in the rack；The right flapping mechanism and the left flapping mechanism overall structure
Identical, the left flapping mechanism is connected at least one flapping mechanism in the right flapping mechanism with a gear wheel.
Further, the steering mechanism includes steering engine one, bracket, control mechanism, lithium battery, wherein the steering engine one is solid
It is scheduled in the rack, the rotation axis connection of the bracket and steering engine one, lithium battery and control mechanism, institute is housed in the bracket
It states and is provided with bracket holes in rack, the mount drives in the bracket holes, and by the steering engine one in the bracket holes
It inside swings, turns to this aircraft by itself deviation of gravity center of the lithium battery, control mechanism.
Further, the luffing mechanism includes steering engine two, belt pulley one, belt pulley two, belt, tailing axle, empennage, wherein
The steering engine two is fixed in the rack, and the belt pulley one is fixed in the rotation axis of the steering engine two, the belt pulley
Two are fixed in the rack with empennage by tailing axle, and the belt connection belt pulley one and belt pulley two pass through the steering engine
The two control empennages are swung up and down, and are moved so that the realization of this aircraft be made to face upward with nutation.
Preferably, the rack is made of the carbon fiber sheet material of imitative birds profile.
Preferably, the left flapping wing, right flapping wing, empennage framework material be carbon fibre material production.
Preferably, the left flapping wing, right flapping wing, empennage skeleton surface uniformly fixation be covered with natural rubber films.
It is an advantage of the invention that structure novel, practical.Motion simulation shows that left and right flapping wing end movement track is
The spherical surface figure of eight, it is similar to the flying method of birds in nature, meet aerodynamics, flight efficiency is high；Steering mechanism's benefit
With the weight of device itself part, steering is realized by way of changing device center of gravity, method is unique, practical and efficient；Whole knot
Structure is simple, rationally distributed, and flight stability is light-weight, small in size, and appearance bio-imitability is strong.
Detailed description of the invention
Fig. 1 is a kind of overall mechanism schematic diagram of imitative bird micro flapping wing air vehicle of the present invention；
Fig. 2 is 2 enlarged structure schematic diagram of driving mechanism；
Fig. 3 a is left 6 enlarged structure schematic diagram of flapping mechanism；
Fig. 3 b is that left flapping wing 7 and right flapping wing 9 are in upper limit position state diagram；
Fig. 3 c is that left flapping wing 7 and right flapping wing 9 are in lower limit position state diagram；
Fig. 4 a is 5 enlarged structure schematic diagram of steering mechanism；
Fig. 4 b is that bracket 502 is biased to left side, and aircraft is in left turn state figure；
Fig. 4 c is that bracket 502 is biased to right side, and aircraft is in right turn state figure；
Fig. 5 a is 11 enlarged structure schematic diagram of luffing mechanism；
Fig. 5 b is that empennage 10 is in upper angle extreme position, and aircraft is in state diagram of facing upward；
Fig. 5 c is that empennage 10 is in lower angle extreme position, and aircraft is in nutation state diagram；
Fig. 6 is the control mechanism schematic diagram of this aircraft；
In figure: 1 rack, 2 driving mechanisms, 201 driving gears, 202 reduction gearing one, 203 reduction gearing two, 204 canine tooths
Wheel, 2041 through-holes one, 205 motors, 206 disks, 2061 through-holes two, 3 control systems, 4 lithium batteries, 5 steering mechanism, 501 steering engines
One, 502 brackets, 6 left flapping mechanisms, 601 connecting rods one, 602 connecting rods two, 6021 through-holes three, 6022 through-holes four, 603 connecting rods three,
604 connecting rods four, 605 universal joints, 606 baffles, 7 left flapping wings, 8 right flapping mechanisms, 801 connecting rods five, 802 connecting rods six, 803 connecting rods
Seven, 804 connecting rods eight, 9 right flapping wings, 10 empennages, 11 luffing mechanisms, 1101 steering engines two, 1102 belt pulleys one, 1103 belt pulleys two,
1104 belts, 1105 tailing axles.
Specific embodiment
Implementation method of the present invention is further described with reference to the accompanying drawing.
As shown in Figure 1, a kind of imitative bird micro flapping wing air vehicle, including rack 1, driving mechanism 2, control mechanism 3, lithium battery
4, steering mechanism 5, left flapping mechanism 6, left flapping wing 7, right flapping mechanism 8, right flapping wing 9, empennage 10, luffing mechanism 11, the machine
Frame 1 is the thin plate of an imitative birds profile, the left flapping mechanism 6 and right 8 structure of flapping mechanism, material and parameter phase
Together, the two sides of the rack 1 are separately fixed at, the left flapping wing 7 is identical as right 9 structure of flapping wing, material and parameter, fixes respectively
It is connected on the left flapping mechanism 6 and right flapping mechanism 8, the steering mechanism 5 is located at central rack, and the empennage 10 connects
In the end of rack 1, the end that the luffing mechanism 11 is located at rack 1 is connected with empennage.
As shown in Figure 1, 2, driving mechanism 2 includes driving gear 201, reduction gearing 1, reduction gearing 2 203, canine tooth
204, motor 205, disk 206 are taken turns, the driving gear 201 is fixedly connected in the drive shaft of the motor 205, the driving
Gear 201 is engaged with the reduction gearing 1, the reduction gearing 1 and the coaxial fixed company of the reduction gearing 2 203
It connects, rotates simultaneously；The reduction gearing 2 203 is engaged with the gear wheel 204, the gear wheel 204 and 206 outer diameter of disk
Identical, the two is fixedly and coaxially connected, and is symmetrically disposed at 1 two sides of rack, and disk 206 described herein can be replaced described in one
Gear wheel 204.The gear wheel 204 and the disk 206 are part hollow out to mitigate weight, and same position is beaten respectively
There are through-hole 1 and through-hole 2 2061.When the motor 205 work, the driving gear 201 is driven to rotate, the drive
Moving gear 201 drives the reduction gearing 1 to rotate, and the reduction gearing 1 drives reduction gearing 2 203 to rotate, institute
Stating reduction gearing 2 203 drives the gear wheel 204 and/or disk 206 to rotate.
As illustrated in figures 2 and 3, the left flapping mechanism 6 includes connecting rod 1, connecting rod 2 602, connecting rod 3 603, connecting rod
4 604, universal joint 605, baffle 606, the connecting rod 1 are connect with the through-hole 1, are had on the connecting rod 2 602
Through-hole 3 6021, the through-hole 4 6022 of two vertical distributions, one 601 other end of connecting rod and the through-hole 3 6021 connect
It connects, the connecting rod 3 603 is connect with the through-hole 4 6022, and described 4 604 one end of connecting rod is connected with the connecting rod 3 603, separately
One end is connected with the universal joint 605, and the left flapping wing 7 is fixed on the end of the connecting rod 4 604, and the universal joint 605 hangs down
It is directly fixed on the baffle 606, the baffle 606 is vertically fixed in the rack 1.In addition, the right flapping mechanism 8
Connecting rod 5 801 is connect with the through-hole 2 2061 of the disk 206.When the gear wheel 204 and disk 206 rotate, institute is driven
It states connecting rod 1 and connecting rod 5 801 rotates, be equivalent to crank structure, so that the connecting rod 2 602 and connecting rod 6 802 are driven, then
Connecting rod 3 603, connecting rod 7 803 and connecting rod 4 604, connecting rod 8 804 is driven to move, under the interaction of each connecting rod, institute
It states left flapping wing 7 and right flapping wing 9 is made periodically to flutter and reverse, realize expected movement.As previously mentioned, the disk in Fig. 3 a
206 can be replaced one described in gear wheel 204, such replace will not influence the flight function of this aircraft, in addition in Fig. 3 a
The gear wheel 204 and the left-right position of the disk 206 can exchange, i.e. the gear wheel 204 and the right side is fluttered machine
Structure 8 is connected, and the disk 206 is connected with the left flapping mechanism 6, and the other component of the driving mechanism 2 does corresponding positions at this time
Set change.
As shown in Figure 3b, the left flapping wing 7 and right flapping wing 9 are in upper limit position；As shown in Figure 3c, the left flapping wing 7
Lower limit position is in right flapping wing 9
Shown in a as Figures 1 and 4, the steering mechanism 5 includes steering engine 1, bracket 502, control mechanism 3, lithium battery 4, institute
State steering engine 1 set in be fixed in rack 1, the rotation axis connection of the bracket 502 and steering engine 1, the control mechanism 3
It is placed on 502 the inside of bracket with lithium battery 4, can be rotated with the rotation axis of the steering engine 1, the control mechanism 3 includes
Control module and radio reception template.Bracket holes are provided in the rack 1, the bracket 502 is placed in the bracket holes.
When the steering engine 1 control bracket 502 is in an intermediate position, the center of gravity of this aircraft entirety is in an intermediate position,
Aircraft linearly flies；When the steering engine 1, which controls the bracket 502, is biased to left side, this aircraft is integrally weighed
The heart is biased to left side, and aircraft is biased to left side flight；When the steering engine 1, which controls the bracket 502, is biased to right side, this flight
Device entirety center of gravity is biased to right side, and aircraft is biased to right side flight, realizes go to action.
As shown in Figure 4 b, the bracket 502 is biased to left side, this aircraft center of gravity is biased to left side, and aircraft is in left-hand rotation shape
State；As illustrated in fig. 4 c, the bracket 502 is biased to right side, and aircraft center of gravity is biased to right side, and aircraft is in right turn state.
As shown in Fig. 1 and 5a, the luffing mechanism 11 include steering engine 2 1101, belt pulley 1, belt pulley 2 1103,
Belt 1104, tailing axle 1105, empennage 10, the steering engine 2 1101 are fixed in the rack 1, and the belt pulley 1 is fixed
In the rotation axis of the steering engine 2 1101, the belt pulley 2 1103 is fixed on institute by tailing axle 1105 with the empennage 10
It states in rack 1, the belt 1104 connects the belt pulley 1 and the belt pulley 2 1103.When the steering engine 2 1101
When controlling the belt 1104 rotation, the empennage 10 downwards or is rotated up angle, the whole nutation therewith of this aircraft or
Person faces upward, and realizes pitching motion.
As shown in Figure 5 b, the empennage 10 is in upper limit position, this aircraft is in state of facing upward；As shown in Figure 5 c,
The empennage 10 is in lower limit position, this aircraft is in nutation state.
In addition, the framework material of heretofore described rack 1, left flapping wing 7, right flapping wing 9, empennage 10 is carbon fiber, institute
State left flapping wing 7, right flapping wing 9, empennage 10 skeleton surface uniformly fixation be covered with natural rubber films, to realize flapping wing and empennage
Function, natural rubber films feature be it is light-weight, flexible, mechanical strength is good, noise is small.
When the invention works, operator issues radio signal using radio controller, and the control mechanism 3 connects
Motor 205 is controlled after receiving signal and steering engine 1, steering engine 2 1101 are made and being correspondingly rotated.The driving mechanism 2 is by power
It is transferred to the left flapping wing mechanism 6 and right flapping wing mechanism 8, then drives the left flapping wing 7 and 9 flapping motion of right flapping wing and torsion,
The speed of fluttering of the power for increase the generation of this aircraft, the left flapping wing 7 and right flapping wing 9 is bigger, and vehicle flight speeds are got over
Fastly, vice versa；The steering engine 1 controls the bracket 502 to the left or right side deflects, and the deflection angle the big, turns to
Amplitude is bigger；The steering engine 2 1101 controls empennage 10 by belt and rotates upwardly and downwardly around tailing axle 1105, and the empennage 10 turns upwards
Aircraft is faced upward when dynamic, aircraft nutation when the empennage 10 rotates down, and the more big then pitch rate of rotational angle is bigger.With
Control mechanism 3 described in upper and the control technology in power mechanism 3 and power resources are all made of the prior art.
Claims (9)
1. a kind of imitative bird micro flapping wing air vehicle, it is characterised in that: including rack, driving mechanism, control mechanism, lithium battery, turn
To mechanism, left flapping mechanism, left flapping wing, right flapping mechanism, right flapping wing, empennage and luffing mechanism；Wherein
The driving mechanism is mounted on the rack, and the left flapping mechanism and right flapping mechanism are separately mounted to the rack
Two sides are driven by the driving mechanism, and are connected respectively with the left flapping wing with right flapping wing, and the left flapping wing and right flapping wing are controlled
It flutters and the left flapping wing and right flapping wing end movement track is made to be the spherical surface figure of eight；
The steering mechanism is mounted on the rack, and controls this aircraft left and right turn；The luffing mechanism is mounted on described
In rack, controls the empennage and swing up and down；
The lithium battery provides power for this aircraft, and the control mechanism receives external signal and control aircraft integrally to fly
State.
2. a kind of imitative bird micro flapping wing air vehicle according to claim 1, it is characterised in that: the driving mechanism includes driving
Moving gear, reduction gearing one, reduction gearing two, gear wheel, motor, disk, wherein the gear wheel and the disk pass through company
Spindle is installed along with the rack two sides, and the gear wheel is engaged with the reduction gearing two, the reduction gearing one with subtract
Fast gear two is coaxially connected, and the reduction gearing one is engaged with driving gear, and the driving gear 201 is connected to the rotation of motor
On axis, the motor is fixed in the rack.
3. a kind of imitative bird micro flapping wing air vehicle according to claim 2, it is characterised in that: the circle in the driving mechanism
Disk is identical as the gear wheel outer diameter, and the disk can be replaced the gear wheel.
4. a kind of imitative bird micro flapping wing air vehicle according to claim 3, it is characterised in that: the left flapping mechanism includes
Connecting rod one, connecting rod two, connecting rod three, connecting rod four, universal joint, baffle, wherein one one end of the connecting rod and the gear wheel or disk
It is connected, the other end is connected with the connecting rod two, and the connecting rod two is connected with connecting rod three, and the connecting rod three is connected with connecting rod three, institute
It states connecting rod four to be connected with the universal joint, the left flapping wing is fixed on the connecting rod four, and the universal joint is fixed on the machine
On frame；The right flapping mechanism is identical as the left flapping mechanism overall structure, and the left flapping mechanism and the right side are fluttered machine
At least one flapping mechanism is connected with a gear wheel in structure.
5. a kind of imitative bird micro flapping wing air vehicle according to claim 1 or 2 or 3 or 4, it is characterised in that: the steering
Mechanism includes steering engine one, bracket, control mechanism, lithium battery, wherein the steering engine one is fixed in the rack, the bracket with
The rotation axis connection of steering engine one is equipped with lithium battery and control mechanism in the bracket, is provided with bracket holes, the branch in the rack
Frame is placed in the bracket holes, and is swung in the bracket holes by the steering engine one driving, by the lithium battery,
Itself deviation of gravity center of control mechanism turns to this aircraft.
6. a kind of imitative bird micro flapping wing air vehicle according to claim 5, it is characterised in that: the luffing mechanism includes rudder
Machine two, belt pulley one, belt pulley two, belt, tailing axle, empennage, wherein the steering engine two is fixed in the rack, the belt
Wheel one is fixed in the rotation axis of the steering engine two, and the belt pulley two is fixed in the rack with empennage by tailing axle, institute
Belt connection belt pulley one and belt pulley two are stated, the empennage is controlled by the steering engine two and is swung up and down, to make this flight
Device realization is faced upward to be moved with nutation.
7. a kind of imitative bird micro flapping wing air vehicle according to claim 6, it is characterised in that: the rack is using imitative birds
The carbon fiber sheet material of profile is made.
8. a kind of imitative bird micro flapping wing air vehicle according to claim 6, it is characterised in that: the left flapping wing, right flapping wing,
The framework material of empennage is carbon fibre material production.
9. a kind of imitative bird micro flapping wing air vehicle according to claim 6, it is characterised in that: the left flapping wing, right flapping wing,
Uniformly fixation is covered with natural rubber films on the skeleton surface of empennage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811584417.1A CN109592029B (en) | 2018-12-24 | 2018-12-24 | Bird-imitating micro flapping wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811584417.1A CN109592029B (en) | 2018-12-24 | 2018-12-24 | Bird-imitating micro flapping wing aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109592029A true CN109592029A (en) | 2019-04-09 |
| CN109592029B CN109592029B (en) | 2022-04-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811584417.1A Active CN109592029B (en) | 2018-12-24 | 2018-12-24 | Bird-imitating micro flapping wing aircraft |
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Cited By (11)
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| CN110091987A (en) * | 2019-05-16 | 2019-08-06 | 西北工业大学太仓长三角研究院 | A kind of miniature vertical landing flapping wing aircraft |
| CN110127048A (en) * | 2019-04-29 | 2019-08-16 | 南京微谷子智能科技有限公司 | It is a kind of to rely on the flapping-wing aircraft and its working method for changing that center of gravity is turned to |
| CN110171568A (en) * | 2019-06-14 | 2019-08-27 | 山东大学 | One kind can hover flapping wing aircraft |
| CN110171567A (en) * | 2019-05-14 | 2019-08-27 | 吉林大学 | A kind of passive torsion swipe three-freedom miniature flapping wing aircraft |
| CN110466756A (en) * | 2019-08-29 | 2019-11-19 | 河海大学常州校区 | A kind of small-sized flapping flight robot of imitative bird |
| CN110667840A (en) * | 2019-10-29 | 2020-01-10 | 北京科技大学 | Novel butterfly-imitating flapping-wing aircraft |
| CN112078791A (en) * | 2020-09-10 | 2020-12-15 | 哈尔滨工业大学（深圳） | Flapping wing aircraft |
| CN112429223A (en) * | 2020-11-30 | 2021-03-02 | 河海大学常州校区 | Straight-wing type bionic flapping-wing flying robot |
| CN112478155A (en) * | 2020-12-04 | 2021-03-12 | 武汉科技大学 | Two-section type three-degree-of-freedom flapping wing aircraft |
| CN112937857A (en) * | 2021-02-04 | 2021-06-11 | 南京航空航天大学 | Drive unit of bird tail-like unfolding mechanism |
| CN113978720A (en) * | 2021-12-07 | 2022-01-28 | 杭州电子科技大学 | Flapping wing aircraft capable of actively controlling wing pitch angle and application method thereof |
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| CN110171567B (en) * | 2019-05-14 | 2022-05-27 | 吉林大学 | Passive torsion sweep type three-degree-of-freedom micro flapping wing aircraft |
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| CN110667840B (en) * | 2019-10-29 | 2021-09-21 | 北京科技大学 | Novel butterfly-imitating flapping-wing aircraft |
| CN110667840A (en) * | 2019-10-29 | 2020-01-10 | 北京科技大学 | Novel butterfly-imitating flapping-wing aircraft |
| CN112078791A (en) * | 2020-09-10 | 2020-12-15 | 哈尔滨工业大学（深圳） | Flapping wing aircraft |
| CN112078791B (en) * | 2020-09-10 | 2022-07-05 | 哈尔滨工业大学（深圳） | Flapping wing aircraft |
| CN112429223A (en) * | 2020-11-30 | 2021-03-02 | 河海大学常州校区 | Straight-wing type bionic flapping-wing flying robot |
| CN112478155A (en) * | 2020-12-04 | 2021-03-12 | 武汉科技大学 | Two-section type three-degree-of-freedom flapping wing aircraft |
| CN112937857A (en) * | 2021-02-04 | 2021-06-11 | 南京航空航天大学 | Drive unit of bird tail-like unfolding mechanism |
| CN112937857B (en) * | 2021-02-04 | 2022-04-22 | 南京航空航天大学 | Drive unit of bird tail-like unfolding mechanism |
| CN113978720A (en) * | 2021-12-07 | 2022-01-28 | 杭州电子科技大学 | Flapping wing aircraft capable of actively controlling wing pitch angle and application method thereof |
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| CN109592029B (en) | 2022-04-01 |
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