CN110127049A - A kind of minitype bionic flapping-wing aircraft of figure of eight wing tip track - Google Patents
A kind of minitype bionic flapping-wing aircraft of figure of eight wing tip track Download PDFInfo
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- CN110127049A CN110127049A CN201910403998.2A CN201910403998A CN110127049A CN 110127049 A CN110127049 A CN 110127049A CN 201910403998 A CN201910403998 A CN 201910403998A CN 110127049 A CN110127049 A CN 110127049A
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- bar
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000009467 reduction Effects 0.000 claims description 20
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 7
- 229910052744 lithium Inorganic materials 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000006872 improvement Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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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)
- Toys (AREA)
Abstract
The present invention discloses a kind of minitype bionic flapping-wing aircraft of figure of eight wing tip track, including rack, the power mechanism being installed in rack, dual-crank-rocker mechanism, space mechanism and empennage mechanism based on flexural pivot, dual-crank-rocker mechanism includes that two cranks bore tooth, two crank cone tooth intermeshing connections, power mechanism and the cone tooth transmission connection of one of crank, space mechanism based on flexural pivot includes the spacing multi-connecting-rod component of two symmetrical settings, two spaces multi link component connects one to one with two crank cone teeth, crank bores tooth and drives rocking bar to shake by kinematic link, rocking bar drives power input lever to swing around third revolute pair, wing root control-rod moves under the drive of power input lever and under the constraint of inertial confinement bar, wing root control-rod is realized under the constraint of three ball pairs flutters, it swings, rotary movement, make micro- The flapping motion mode of type Bionic ornithopter is more close to flying creature.The present invention is in micro flapping wing air vehicle.
Description
Technical field
The present invention relates to the technical fields of micro flapping wing air vehicle, in particular to a kind of figure of eight wing tip track is miniature
Bionic ornithopter.
Background technique
Micro flapping wing air vehicle is a kind of a kind of course of new aircraft for copying biological flying method development, has very high push away
Into efficiency, and have the characteristics that highly concealed type, noise are small.The relevant experimental study of aerodynamics it has been shown that having a size of
15cm micro flapping wing air vehicle below possesses aeroperformance more superior than fixed-wing and rotor.As with Bird Flight posture
Similar micro flapping wing air vehicle, it is special that it can be used in animal behavior observational study, military surveillance and eavesdropping, airport bird scaring etc.
Purposes.
Currently, having there is tens of money bionic flying micro-robots both at home and abroad.However these bionic flying micro-robots
Otherwise using special driving method, such as piezoelectric ceramics and artificial-muscle, so that the aircraft flight time is very short or nothing
Method load cell and control module；It differs larger with true biological flapping motion mode, not can be implemented simultaneously flapping wing and flutter
And the combination or torsional amplitude very little of flapping wing active twist, to make these aircraft that can not efficiently use the promotion that biology flies
Power mechanism is in a lower bionical level.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of minitype bionic flapping-wing aircraft of figure of eight wing tip track, flutter
For wing motor pattern more close to flying creature, the flapping wing for efficiently using biology flight provides biggish lift.
The solution that the present invention solves its technical problem is:
A kind of minitype bionic flapping-wing aircraft of figure of eight wing tip track, including rack, power mechanism, dual-crank-rocker mechanism,
Space mechanism based on flexural pivot, the rack in front and back be extended, the power mechanism, dual-crank-rocker mechanism and be based on ball
The space mechanism of hinge is installed on the front of rack, is equipped with empennage mechanism in the rear end of the rack；
The dual-crank-rocker mechanism includes the crank cone tooth of two symmetrical settings, and two crank cone teeth are mutually nibbled
Connection is closed, the first revolute pair with crank cone tooth eccentric setting is equipped on crank cone tooth, the crank cone tooth is connected with
Kinematic link, the crank cone tooth are connected by one end of the first revolute pair and kinematic link, the other end of the kinematic link
It is connected with rocking bar, the second revolute pair is equipped between one end and kinematic link of the rocking bar, one end of the rocking bar passes through second
Revolute pair is connect with kinematic link；
The power mechanism and the cone tooth transmission connection of one of crank；
The space mechanism based on flexural pivot includes the spacing multi-connecting-rod component of two symmetrical settings, two spaces
Multi link component connects one to one with two cranks cone teeth, the spacing multi-connecting-rod component include power input lever, inertia about
Beam bar and wing root control-rod, the power input lever and inertial confinement bar are symmetrical arranged in front and back, the power input lever and used
Property constraining rod extend respectively toward the outside of rack, the inner end of the power input lever and the inner end of inertial confinement bar be located remotely from each other,
The outer end of the power input lever and the outer end of inertial confinement bar are close to each other, and the inner end of the power input lever turns equipped with third
The inner end of dynamic pair, the power input lever is connect by third revolute pair with rack, the inner end of the power input lever and rocking bar
One end far from the second revolute pair is fixedly connected, and the power input lever is coaxially set with rocking bar, the inertial confinement bar
Inner end is equipped with the 4th revolute pair, and the inner end of the inertial confinement bar is connect by the 4th revolute pair with rack, the wing root control
Bar is arranged on the plane of symmetry between power input lever and inertial confinement bar, and the wing root control-rod extends toward the outside of rack,
The wing root control-rod is in isosceles triangle shape, is equipped with the first ball pair, the wing root control in the vertex of the wing root control-rod
Bar processed is connect by the first ball pair with rack, the second ball pair is equipped in the outer end of the power input lever, in the inertial confinement
The outer end of bar is equipped with third ball pair, and the outer end of the power input lever is connected by the base angle on front side of the second ball pair and wing root control-rod
It connects, the outer end of the inertial confinement bar is connect by third ball pair with the base angle on rear side of wing root control-rod；
The wing root control-rod is connected with bionic flapping-wing.
As a further improvement of the foregoing solution, the power mechanism, dual-crank-rocker mechanism are installed on the downside of rack,
The space mechanism based on flexural pivot is installed on the upside of rack.
As a further improvement of the foregoing solution, the power mechanism includes that driving portion and the driving portion are sequentially connected
Gear reduction assemblies, the driving portion bores tooth transmission connection by gear reduction assemblies and one of crank.
As a further improvement of the foregoing solution, the driving portion includes the rotating electric machine being installed in rack, the rotation
The output shaft of rotating motor is connected with driving gear, and the gear reduction assemblies include the multiple reduction gearing for successively engaging connection,
The rotating electric machine by driving gear engage connection with the reduction gearing at beginning, one of crank bore tooth shaft and
The reduction gearing of terminal connects.
As a further improvement of the foregoing solution, the empennage mechanism includes the flat wing being laterally arranged, in vertically arranged
The perpendicular wing, the front end of the flat wing and the rear end of rack connect, and the lower edge of the perpendicular wing is connect with the midline of the flat wing, described
The back edge of the perpendicular wing is connected with the pendulum wing, and swinging driver is equipped between the pendulum wing and the perpendicular wing, and the swinging driver can drive
The pendulum wing swings.
As a further improvement of the foregoing solution, lithium battery, the lithium battery difference are installed in the middle part of the rack
It is electrically connected with rotating electric machine, swinging driver.
As a further improvement of the foregoing solution, fairshaped shell is housed in the outer sheath of the rack.
The beneficial effects of the present invention are: it is driven by the power mechanism, drive two crank cone tooth spirals to turn, it is logical that crank bores tooth
Crossing kinematic link drives rocking bar to shake, and rocking bar drives power input lever to swing around third revolute pair, and wing root control-rod is defeated in power
Enter under the drive of bar and moved under the constraint of inertial confinement bar, is shaken in the amplitude and dual-crank-rocker mechanism of power input lever rotation
Bar swing amplitude it is equal in magnitude, and during the motion they obtain peak values with valley at the time of be overlapped, wing root control-rod
Can be under the drive of power input lever and the first ball is secondary, the second ball is secondary, under third ball pair constraint realization flutter, swing,
Rotary movement, and the third ball pair for connecting wing root control-rod with inertial confinement bar is when the upstroke and down stroke fluttered change
By inertia motion, bionic flapping-wing is made to have different flutter form and mechanical periodicity in the upstroke and down stroke fluttered, it can be with
Make the motor pattern of bionic flapping-wing more close to flying creature, the flapping wing for efficiently using biology flight provides biggish liter
Power.
The present invention is in micro flapping wing air vehicle.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described.Obviously, described attached drawing is a part of the embodiments of the present invention, rather than is all implemented
Example, those skilled in the art without creative efforts, can also be obtained according to these attached drawings other designs
Scheme and attached drawing.
Fig. 1 is the schematic diagram of internal structure of the embodiment of the present invention；
Fig. 2 is the schematic diagram of the frame front of the embodiment of the present invention；
Fig. 3 is the schematic diagram of the embodiment of the present invention；
Fig. 4 is attitudes vibration and flapping wing wing tip track of the embodiment of the present invention within a period.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of the embodiment, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art are not being paid
Other embodiments obtained, belong to the scope of protection of the invention under the premise of creative work.In addition, be previously mentioned in text
All connection/connection relationships not singly refer to that component directly connects, and referring to can be added deduct according to specific implementation situation by adding
Few couple auxiliary, Lai Zucheng more preferably coupling structure.Each technical characteristic in the present invention, in the premise of not conflicting conflict
Under can be with combination of interactions.
Referring to figs. 1 to Fig. 4, this is the embodiment of the present invention, specifically:
The minitype bionic flapping-wing aircraft of a kind of figure of eight wing tip track, as shown in Figure 1, including rack 100, power mechanism, double
Crank and rocker mechanism 200, the space mechanism based on flexural pivot, the rack 100 is extended in front and back, the power mechanism, double
Crank and rocker mechanism 200 and space mechanism based on flexural pivot are installed on the front of rack 100, pacify in the rear end of the rack 100
Equipped with empennage mechanism 600；
As shown in Fig. 2, crank cone tooth 210 of the dual-crank-rocker mechanism 200 including two symmetrical settings, two
A crank cone tooth 210 intermeshing connection, is equipped with first with crank cone 210 eccentric setting of tooth on crank cone tooth 210
Revolute pair 220, crank cone tooth 210 are connected with kinematic link 230, the crank cone tooth 210 by the first revolute pair 220 with
One end of kinematic link 230 connects, and the other end of the kinematic link 230 is connected with rocking bar 240, one end of the rocking bar 240
The second revolute pair 250 is equipped between kinematic link 230, one end of the rocking bar 240 is connected by the second revolute pair 250 with transmission
Bar 230 connects；
The power mechanism and one of crank cone tooth 210 are sequentially connected；
As shown in Fig. 2, the space mechanism based on flexural pivot includes the spacing multi-connecting-rod group of two symmetrical settings
Part 300, two spaces multi link component 300 connect one to one with two crank cone teeth 210, the spacing multi-connecting-rod component
300 include power input lever 310, inertial confinement bar 320 and wing root control-rod 330, the power input lever 310 and inertial confinement
Bar 320 is symmetrical arranged in front and back, and the power input lever 310 extends toward the outside of rack 100 respectively with inertial confinement bar 320,
The inner end of the power input lever 310 and the inner end of inertial confinement bar 320 are located remotely from each other, the outer end of the power input lever 310
Close to each other with the outer end of inertial confinement bar 320, the inner end of the power input lever 310 is equipped with third revolute pair 340, described dynamic
The inner end of power input lever 310 is connect by third revolute pair 340 with rack 100, the inner end of the power input lever 310 and rocking bar
240 one end far from the second revolute pair 250 are fixedly connected, and the power input lever 310 is coaxially set with rocking bar 240, described
The inner end of inertial confinement bar 320 is equipped with the 4th revolute pair 350, and the inner end of the inertial confinement bar 320 passes through the 4th revolute pair 350
It is connect with rack 100, the plane of symmetry between power input lever 310 and inertial confinement bar 320 is arranged in the wing root control-rod 330
On, the wing root control-rod 330 extends toward the outside of rack 100, and the wing root control-rod 330 is in isosceles triangle shape, in institute
The vertex for stating wing root control-rod 330 is equipped with the first ball pair 331, and the wing root control-rod 330 passes through the first ball pair 331 and rack
100 connections are equipped with the second ball pair 311 in the outer end of the power input lever 310, set in the outer end of the inertial confinement bar 320
There are third ball pair 321, the base angle that the outer end of the power input lever 310 passes through the second ball pair 311 and 330 front side of wing root control-rod
The outer end of connection, the inertial confinement bar 320 is connect by third ball pair 321 with the base angle of 330 rear side of wing root control-rod；
As shown in figure 3, the wing root control-rod 330 is connected with bionic flapping-wing 800.
It is driven by the power mechanism, drive two crank cone teeth 210 to rotate, crank bores tooth 210 and passes through kinematic link 230
Rocking bar 240 is driven to shake, rocking bar 240 drives power input lever 310 to swing around third revolute pair 340, and wing root control-rod 330 is dynamic
It moves under the drive of power input lever 310 and under the constraint of inertial confinement bar 320, the amplitude and hyperbolic that power input lever 310 rotates
The amplitude that rocking bar 240 is swung in handle rocker device 200 is equal in magnitude, and they obtain peak values and valley during the motion
Moment overlapping, wing root control-rod 330 can be under the drives of power input lever 310 and the first ball pair 331, the second ball pair
311, realized under the constraint of third ball pair 321 flutter, swing, rotary movement, and make wing root control-rod 330 and inertial confinement bar
The third ball pair 321 of 320 connections, by inertia motion, makes bionic flapping-wing 800 exist when the upstroke and down stroke fluttered change
The upstroke and down stroke fluttered have different flutter form and mechanical periodicities so that wing root control-rod 330 be able to drive it is bionical
Flapping wing 800 makees the motor pattern of figure of eight wing tip track, and bionic flapping-wing copies birds wing profile to draw, as shown in figure 4,
Attitudes vibration and flapping wing wing tip track in one period, and then the motor pattern of bionic flapping-wing 800 has more close to flying creature
Effect provides biggish lift using the flapping wing of biology flight.
It is further used as preferred embodiment, the power mechanism, dual-crank-rocker mechanism 200 are installed on rack 100
Downside, the space mechanism based on flexural pivot is installed on the upside of rack 100.So that the structure of minitype bionic flapping-wing aircraft is small-sized
Change.
It is further used as preferred embodiment, the power mechanism includes that driving portion and the driving portion are sequentially connected
Gear reduction assemblies 400, the driving portion bores tooth 210 by gear reduction assemblies 400 and one of crank and is sequentially connected.
Gear reduction assemblies 400 will reach dual-crank-rocker mechanism 200 after the output deceleration torque increase of driving portion.
It is further used as preferred embodiment, the driving portion includes the rotating electric machine 500 being installed in rack 100,
The output shaft of the rotating electric machine 500 is connected with driving gear, and the gear reduction assemblies 400 include the more of successively engagement connection
A reduction gearing 410, the rotating electric machine 500 by driving gear to engage connection with the reduction gearing 410 at beginning, it is described wherein
The connection of reduction gearing 410 of the shaft and terminal of one crank cone tooth 210.Gear reduction assemblies 400 pass through multiple reduction gearing
410 can realize the effect of deceleration torque increase.
It is further used as preferred embodiment, the empennage mechanism 600 includes the flat wing 610 being laterally arranged, in vertical
The front end of the perpendicular wing 620 being arranged, the flat wing 610 is connect with the rear end of rack 100, the lower edge of the perpendicular wing 620 and the flat wing
610 midline connection is connected with the pendulum wing 630 in the back edge of the perpendicular wing 620, sets between the pendulum wing 630 and the perpendicular wing 620
There is swinging driver 640, the swinging driver 640 can drive the pendulum wing 630 to swing.It is controlled by swinging driver 640
The pendulum wing 630 swings to control the heading of minitype bionic flapping-wing aircraft.
It is further used as preferred embodiment, lithium battery 700, the lithium electricity are installed at the middle part of the rack 100
Pond 700 is electrically connected with rotating electric machine 500, swinging driver 640 respectively.Lithium battery 700 provides institute to minitype bionic flapping-wing aircraft
Some electric power is generally also provided with control panel and is used to control flapping wing frequency and heading.
It is further used as preferred embodiment, as shown in figure 3, further include the shell 900 for being set in 100 outside of rack,
The shape of the shell 900 copies the physical shapes of birds to draw, and shell 900 has the characteristics that fairshaped, reduction flight resistance.
Better embodiment of the invention is illustrated above, but the present invention is not limited to the embodiment,
Those skilled in the art can also make various equivalent modifications or replacement on the premise of without prejudice to spirit of the invention, this
Equivalent variation or replacement are all included in the scope defined by the claims of the present application a bit.
Claims (7)
1. a kind of minitype bionic flapping-wing aircraft of figure of eight wing tip track, it is characterised in that: including rack, power mechanism, double-crank
Rocker device, the space mechanism based on flexural pivot, the rack are extended in front and back, the power mechanism, Double crank rocker machine
Structure and space mechanism based on flexural pivot are installed on the front of rack, are equipped with empennage mechanism in the rear end of the rack；
The dual-crank-rocker mechanism includes the crank cone tooth of two symmetrical settings, and two crank cone tooth intermeshings connect
It connects, the first revolute pair with crank cone tooth eccentric setting is equipped on crank cone tooth, the crank cone tooth is connected with transmission
Connecting rod, the crank cone tooth are connected by one end of the first revolute pair and kinematic link, the other end connection of the kinematic link
There is rocking bar, the second revolute pair is equipped between one end and kinematic link of the rocking bar, one end of the rocking bar passes through the second rotation
Pair is connect with kinematic link；
The power mechanism and the cone tooth transmission connection of one of crank；
The space mechanism based on flexural pivot includes the spacing multi-connecting-rod component of two symmetrical settings, and two spaces connect more
Bar assembly connects one to one with two crank cone teeth, and the spacing multi-connecting-rod component includes power input lever, inertial confinement bar
With wing root control-rod, the power input lever and inertial confinement bar are symmetrical arranged in front and back, and the power input lever and inertia are about
Beam bar extends toward the outside of rack respectively, and the inner end of the power input lever and the inner end of inertial confinement bar are located remotely from each other, described
The outer end of power input lever and the outer end of inertial confinement bar are close to each other, and the inner end of the power input lever is rotated equipped with third
The inner end of pair, the power input lever is connect by third revolute pair with rack, and the inner end of the power input lever is remote with rocking bar
One end from the second revolute pair is fixedly connected, and the power input lever is coaxially set with rocking bar, the inertial confinement bar it is interior
End is equipped with the 4th revolute pair, and the inner end of the inertial confinement bar is connect by the 4th revolute pair with rack, the wing root control-rod
It is arranged on the plane of symmetry between power input lever and inertial confinement bar, the wing root control-rod extends toward the outside of rack, institute
Wing root control-rod is stated in isosceles triangle shape, is equipped with the first ball pair, the wing root control in the vertex of the wing root control-rod
Bar is connect by the first ball pair with rack, the second ball pair is equipped in the outer end of the power input lever, in the inertial confinement bar
Outer end be equipped with third ball pair, the outer end of the power input lever is connected by the base angle on front side of the second ball pair and wing root control-rod
It connects, the outer end of the inertial confinement bar is connect by third ball pair with the base angle on rear side of wing root control-rod；
The wing root control-rod is connected with bionic flapping-wing.
2. a kind of minitype bionic flapping-wing aircraft of figure of eight wing tip track according to claim 1, it is characterised in that: described
Power mechanism, dual-crank-rocker mechanism are installed on the downside of rack, and the space mechanism based on flexural pivot is installed on the upper of rack
Side.
3. a kind of minitype bionic flapping-wing aircraft of figure of eight wing tip track according to claim 1, it is characterised in that: described
Power mechanism includes driving portion, the gear reduction assemblies with driving portion transmission connection, and the driving portion passes through The gear deceleration
Component and the cone tooth transmission connection of one of crank.
4. a kind of minitype bionic flapping-wing aircraft of figure of eight wing tip track according to claim 3, it is characterised in that: described
Driving portion includes the rotating electric machine being installed in rack, and the output shaft of the rotating electric machine is connected with driving gear, the gear
Reduction assemblies include the multiple reduction gearing for successively engaging connection, the reducing gear that the rotating electric machine passes through driving gear and beginning
Wheel engagement connection, the shaft of one of crank cone tooth and the reduction gearing of terminal connect.
5. a kind of minitype bionic flapping-wing aircraft of figure of eight wing tip track according to claim 1, it is characterised in that: described
Empennage mechanism includes the flat wing being laterally arranged, in the vertically arranged perpendicular wing, the front end of the flat wing and the rear end connection of rack, institute
The lower edge for stating the perpendicular wing is connect with the midline of the flat wing, is connected with the pendulum wing, the pendulum wing and the perpendicular wing in the back edge of the perpendicular wing
Between be equipped with swinging driver, the swinging driver can drive pendulum the wing swing.
6. a kind of minitype bionic flapping-wing aircraft according to claim 5, it is characterised in that: be equipped in the middle part of the rack
Lithium battery, the lithium battery are electrically connected with rotating electric machine, swinging driver respectively.
7. a kind of minitype bionic flapping-wing aircraft according to claim 1, it is characterised in that: be equipped in the outer sheath of the rack
Fairshaped shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910403998.2A CN110127049B (en) | 2019-05-15 | 2019-05-15 | Miniature bionic ornithopter with 8-shaped wingtip track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910403998.2A CN110127049B (en) | 2019-05-15 | 2019-05-15 | Miniature bionic ornithopter with 8-shaped wingtip track |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110127049A true CN110127049A (en) | 2019-08-16 |
| CN110127049B CN110127049B (en) | 2023-11-14 |
Family
ID=67574202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910403998.2A Active CN110127049B (en) | 2019-05-15 | 2019-05-15 | Miniature bionic ornithopter with 8-shaped wingtip track |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667841A (en) * | 2019-09-05 | 2020-01-10 | 山东大学 | Flapping wing mechanism capable of realizing infinite-shaped track and flapping wing aircraft |
| CN114439898A (en) * | 2022-01-12 | 2022-05-06 | 哈尔滨工程大学 | Undulant fin does not have tooth system drive mechanism and system |
| CN115817811A (en) * | 2022-11-21 | 2023-03-21 | 中国人民解放军陆军工程大学 | Bionic ornithopter for reconnaissance |
| CN116853497A (en) * | 2023-08-31 | 2023-10-10 | 上海海事大学 | Insect-imitating multi-degree-of-freedom flapping-wing mechanism and flapping-wing machine |
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