CN110861773A - Air-drop flapping wing flying robot based on cambered surface wing design - Google Patents
Air-drop flapping wing flying robot based on cambered surface wing design Download PDFInfo
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- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 229920000271 Kevlar® Polymers 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention provides an air-drop flapping wing flying robot based on cambered surface wing design, which comprises a machine body, a cambered surface wing, a tail wing, a control mechanism, an air-drop mechanism and a battery, wherein the machine body is provided with a plurality of air-drop flapping wings; cambered surface wings are symmetrically connected to two sides of the fuselage and flap under the driving of a driving steering engine to provide lifting force and thrust required by flight for the air-drop flapping wing flying robot; the tail wing is connected to the rear end of the machine body; the control mechanism comprises a control board, an inertia measurement unit and a global positioning system; the inertial measurement unit and the global positioning system are used for measuring the flight attitude and position of the air-projection flapping wing flying robot; the control board is used for receiving a control instruction of the upper computer platform, controlling the air-drop flapping wing flying robot to fly by fusing measurement data of the inertial measurement unit and the global positioning system, and controlling the air-drop mechanism to carry out air-drop. The air-drop flapping wing flying robot based on the cambered surface wing design realizes the air-drop task facing the flapping wing flying robot, and expands the application field of the flapping wing flying robot.
Description
Technical Field
The invention relates to the technical field of bionic flapping wing flying robots, in particular to an air-drop flapping wing flying robot based on cambered surface wing design.
Background
Bionic flapping wing flying robot adopts the mode of flapping wings to fly through flying organisms such as birds, insects and the like imitating the nature, and compared with the existing fixed wing aircraft and rotor aircraft, the flapping wing flying robot has the advantages of strong maneuverability, lower requirement on a flying field, high flying efficiency, good concealment and wide application prospect in the field of air drop of a micro unmanned aerial vehicle.
One of the characteristics of the bionic flapping wing flying robot is that the flapping wings can generate body shake during flying, and if a small-range high-precision air-drop task is to be completed, the throwing precision can be greatly increased by adopting a gliding flying mode.
Most of the existing flapping wing flying robots have heavy self-weight and low load capacity, and adopt motor drive and plane wing design; wherein, adopt motor drive, the design of no potentiometre makes current flapping wing flying robot can't realize the action that the wing was opened up and is glided, and adopts the design of plane wing, can make flapping wing flying robot's lift-drag when gliding less, causes that gliding time and distance are shorter, and glides the in-process reciprocal stall process that very easily appears, so greatly reduced flapping wing flying robot's flight efficiency and stability.
Disclosure of Invention
The invention aims to solve the technical problem of providing an air-drop flapping wing flying robot based on cambered surface wing design, and solves the problems that the existing flapping wing flying robot is heavy in self weight, low in load capacity and incapable of realizing automatic air-drop.
By designing the wing skeleton structure with the radian of the root part being larger and the radian of the tip part being smaller, the overall stability, the load capacity and the flight efficiency of the flapping wing flying robot are improved, and the bionic degree is higher. An automatic air-drop system based on visual control is designed on the basis, an airborne image acquisition module is used for identifying an air-drop area, the relative position of an air-drop target area and the predicted drop point of a dropped object are calculated through measurement data of an inertial measurement unit and a global positioning system, and an air-drop mechanism is controlled to achieve automatic air-drop.
Specifically, in order to solve the above technical problems, the present invention provides the following technical solutions:
an air-drop flapping wing flying robot based on cambered surface wing design comprises a body, a cambered surface wing, a tail wing, a control mechanism, an air-drop mechanism and a battery;
the aerial-dropping flapping wing flying robot is characterized in that driving steering gears are fixed on the body, cambered wings are symmetrically connected to two sides of the body and are in transmission connection with the driving steering gears, and flap under the driving of the driving steering gears, so that the aerial-dropping flapping wing flying robot can provide lifting force and thrust required by flying; the empennage is connected to the rear end of the fuselage;
the control mechanism, the air-drop mechanism and the battery are all fixed on the machine body; the control mechanism comprises a control board, an inertia measurement unit and a global positioning system; the battery, the inertia measurement unit and the global positioning system are all electrically connected with the control board; the battery is used for supplying power to the control board;
the inertial measurement unit and the global positioning system are used for measuring the flight attitude and position of the aerial-casting flapping-wing flying robot; the control panel is used for receiving a control instruction of an upper computer platform, controlling the aerial-casting flapping wing flying robot to fly by controlling the driving steering engine through fusing the measurement data of the inertia measurement unit and the global positioning system, and controlling the aerial-casting mechanism to carry out aerial-casting.
The control mechanism further comprises a data transmission module, the data transmission module is electrically connected with the control panel and is used for transmitting the flight attitude and the flight position of the aerial-drop flapping-wing flying robot to the upper computer platform in real time.
The steering engine comprises a main body frame, a steering engine fixing piece and a transverse support frame, wherein the main body comprises a main body frame; the steering engine fixing piece is inserted at the front end of the main body frame, and the driving steering engine is fixed on the steering engine fixing piece; one end of the transverse support frame is inserted into the rear end of the machine body main frame, and the other end of the transverse support frame is inserted into the driving steering engine.
The machine body also comprises a horizontal carrier inserted in the main frame of the machine body; the control board, the inertia measurement unit, the global positioning system, the data transmission module and the battery are all fixed on the horizontal object carrier.
The cambered surface wing comprises a wing framework and a wing film covering the wing framework;
the wing framework comprises a leading edge rod, an outer side rod, an arc-shaped inclined strut and a wing rib which are fixed together; the rib and the diagonal brace form an airfoil camber; the tail end of the front edge rod is fixedly connected with a steering engine arm of the driving steering engine, and the tail end of the inclined strut is hinged to a rear edge fixing piece located at the rear end of the machine body.
The tail comprises a tail fixing piece, a tail framework and a tail film covering the tail framework; the empennage framework is connected with the empennage fixing piece in an inserting mode, and the empennage fixing piece is connected to the rear end of the fuselage in an inserting mode.
The aerial-drop flapping-wing flying robot further comprises an image acquisition module, wherein the image acquisition module is vertically installed downwards in the middle of the body and close to the front, and the image acquisition module is used for acquiring aerial images and transmitting the acquired aerial images to the upper computer platform for display in real time.
The air-drop mechanism comprises an air-drop bin and an air-drop steering engine; the aerial delivery steering engine and the aerial delivery bin are respectively installed on two sides of the machine body, the aerial delivery steering engine is electrically connected with the control mechanism, the aerial delivery bin is locked by a steering engine arm of the aerial delivery steering engine, and when the steering engine arm of the aerial delivery steering engine bounces open, the aerial delivery bin is opened.
The upper computer platform is used for communicating with the control mechanism, sending a control command to the control mechanism and displaying the flight attitude, the position information and the speed signal of the aerial-dropping flapping-wing flying robot in real time.
The upper computer platform is also used for autonomously identifying an air-drop area according to the aerial image acquired by the image acquisition module, predicting an air-drop falling point in real time by fusing the measurement data of the inertial measurement unit and the global positioning system, and displaying the air-drop falling point in the aerial image returned by the image acquisition module.
The technical scheme of the invention has the following beneficial effects:
the wing of the air-drop flapping-wing flying robot based on the cambered surface wing design adopts the gradually-changed cambered surface structure, has a better bionic effect compared with the existing plane wing structure, can effectively improve the loading capacity of a machine body and improve the flying efficiency through gliding, and the vision-based autonomous air-drop System designed on the basis predicts the drop point of an air-drop object and executes an air-drop instruction through the fusion data of an image acquired by an airborne image acquisition module in real time and an airborne Inertial Measurement Unit (IMU) and a Global Positioning System (GPS), and can autonomously complete an air-drop task.
Drawings
FIG. 1 is a schematic overall structure diagram of an aerial delivery flapping wing flying robot of the present invention;
FIG. 2 is another overall structure diagram of the aerial-delivery flapping-wing flying robot of the invention;
FIG. 3 is a schematic illustration of the fuselage structure of the present invention;
FIG. 4 is a schematic structural view of a single-sided cambered airfoil of the present invention;
FIG. 5 is a schematic view of the rib structure of the present invention;
FIG. 6 is a schematic illustration of the configuration of the fuselage mainframe of the present invention;
FIG. 7 is a schematic structural view of the lateral support frame of the present invention;
fig. 8 is a schematic view of the structure of the rear wing of the present invention.
[ main component symbol description ]
1. Covering a film on the wing; 2. a leading edge bar; 3. an outer lever; 4. bracing; 5. a rib; 6. a wafer;
7. coating a film on the tail wing; 8. a transverse winged bone; 9. a first pterygoid bone; 10. a second pterygoid bone;
11. an empennage fixing member; 12. a main frame of the machine body; 13. a first slot; 14. a third slot;
15. a gap; 16. a second slot; 17. a fourth slot; 18. a front end slot; 19. a rear end slot;
20. grooving on one side; 21. a trailing edge fixture; 22. a transverse support frame; 23. driving a rudder horn;
24. a steering engine fixing piece; 25. driving a steering engine; 26. an image acquisition module; 27. an air-drop bin;
28. an airdrop steering engine; 29. an airdrop rudder horn; 30. a battery; 31. a control panel;
32. an inertial measurement unit; 33. a global positioning system; 34. a data transmission module; 35. a horizontal carrier.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 8, the present embodiment provides an air-drop flapping wing flying robot based on cambered wing design, which includes a fuselage, a cambered wing, a tail wing, a control mechanism, an air-drop mechanism and a battery 30;
a driving steering engine 25 is fixed on the body, and the tail wing is connected with the rear end of the body; the cambered surface wings are symmetrically connected to two sides of the aircraft body and are in transmission connection with the driving steering engine 25, and a pair of left cambered surface wings and right cambered surface wings flap under the driving of the driving steering engine 25 to provide lifting force and thrust required by flight for the aerial delivery flapping wing flying robot; in the flying process, the steering engine 25 can be driven to respectively and independently control cambered wings on two sides, and phase difference or amplitude difference control on two sides can be carried out so as to better control the flying attitude; the design of cambered surface wing combines together with drive steering wheel 25, can accomplish the action of gliding in the flight process, and owing to the differential control of drive steering wheel 25, also can regulate and control flapping wing flying robot's direction and descending speed in real time in the process of gliding to accomplish the air-drop task more accurately.
The control mechanism, the air-dropping mechanism and the battery 30 are all fixed on the machine body; the control mechanism includes a control board 31, an Inertial Measurement Unit (IMU) 32, a Global Positioning System (GPS) 33, and a data transmission module 34; the battery 30, the inertial measurement unit 32, the data transmission module 34 and the global positioning system 33 are all electrically connected with the control board 31; the battery 30 is used for supplying power to the control panel 31;
the inertial measurement unit 32 and the global positioning system 33 are used for measuring the flight attitude and position of the air-drop flapping wing flying robot; the control panel 31 is used for receiving a control instruction of the upper computer platform, controlling the air-drop flapping wing flying robot to fly by controlling the driving steering engine 25 through fusing measurement data of the inertial measurement unit 32 and the global positioning system 33, and controlling the air-drop mechanism to carry out air-drop. The data transmission module 34 is used for transmitting the flight attitude and position of the aerial delivery flapping-wing flying robot, such as data of three-axis Euler angles, quaternion, flight altitude, GPS signals and the like, to the upper computer platform in real time, so that observation and control are facilitated. Specifically, in this embodiment, the digital transmission module 34 performs real-time transmission by using a 5.8GHz frequency band.
Specifically, the fuselage comprises a fuselage main frame 12, a steering engine fixing piece 24, a transverse support frame 22 and a horizontal carrier frame 35; specifically, in the embodiment, the main frame 12 of the airframe is made of carbon fiber plates to form the shape of the bird body, and a plurality of lightening holes are designed on the premise of not influencing the structural strength of the airframe; the steering engine fixing piece 24 is vertically inserted into a first slot 13 positioned at the front end of the main body frame 12, and a driving steering engine 25 is fixed on the steering engine fixing piece 24; the rear end slot 19 of the transverse support frame 22 is inserted into the second slot 16 at the rear end of the main frame 12, and the front end slot 18 of the transverse support frame 22 is inserted into the screw hole at the lower end of the driving steering engine 25 again in order to better fix the driving steering engine 25. The horizontal carrier 35 is inserted into the third slot 14 on the main frame 12; the control board 31, the inertial measurement unit 32, the global positioning system 33, the data transmission module 34 and the battery 30 are all fixed on the horizontal carrier 35.
The cambered surface wing comprises a wing framework and a wing coating film 1 covering the wing framework; the wing framework comprises a leading edge rod 2, a thin outer side rod 3, an arc-shaped inclined strut 4, a wing rib 5 and a wafer 6 for fixing the wing rib 5 and the leading edge rod 2; the wing design of each side cambered surface adopts two cambered wing ribs 5, an inclined strut 4 with radian and a thin rod on the outer side to increase flexibility; the inclined strut 4 and the wing rib 5 are respectively provided with a single-side groove 20, so that the fixing is facilitated by Kevlar wires, and the outer side rod 3 and the inclined strut 4 are connected by Kevlar wires, so that the strength can be ensured, the flexibility of the wing can be improved, and the effect of enhancing the flight stability in the flight process is achieved. The wing ribs 5 and the inclined struts 4 form airfoil radians, and the lifting force during gliding flight is improved by utilizing the Bernoulli principle; the outer side rod 3 of the wing can ensure the rigidity of the wing; in order to ensure that the rib does not bend obliquely, the connection between the rib 5 and the leading-edge bar 2 is clamped and glued by two discs 6.
At the connecting part of the cambered surface wing and the main body frame 12, the wing coating film 1 passes through a gap 15 reserved by the main body frame 12, so that the up-and-down shaking is avoided; the tail end of the front edge rod 2 is fixedly connected with a driving steering engine arm 23 of a driving steering engine 25, and the tail end of the inclined strut 4 is provided with a round hole which is hinged with a round hole on a rear edge fixing piece 21 positioned at the rear end of the machine body and can rotate.
The empennage comprises an empennage fixing piece 11, an empennage framework and an empennage film 7 covered on the empennage framework; wherein, the empennage framework comprises two first winged bones 9, two second winged bones 10 and a transverse winged bone 8; four semi-cylindrical grooves are hollowed out on the empennage fixing piece 11, two first wing ribs 9 and two second wing ribs 10 are respectively inserted into the semi-cylindrical grooves of the empennage fixing piece 11, and the transverse wing ribs 8 can enhance the rigidity of the empennage; the tail fixing piece 11 is inserted into a fourth slot 17 at the rear end of the main frame 12 of the fuselage, so that the tail forms a fixed angle.
The air-drop mechanism comprises an air-drop bin 27 and an air-drop steering engine 28; the air-drop steering engine 28 and the air-drop bin 27 are respectively installed on two sides of the main body frame 12, the air-drop steering engine 28 is electrically connected with the control mechanism, the air-drop steering engine arm 29 of the air-drop steering engine 28 locks the air-drop bin 27, when an air-drop instruction is executed, the air-drop steering engine arm 29 bounces off, at the moment, the air-drop bin 27 is opened, and thrown objects in the air-drop bin 27 naturally fall down.
Further, the air-drop flapping-wing flying robot of the embodiment further comprises an image acquisition module 26, wherein the image acquisition module 26 is vertically and downwards installed at the position, close to the front, in the middle of the main body frame 12 and used for acquiring aerial images and transmitting the acquired aerial images to an upper computer platform for displaying in real time; the upper computer platform is communicated with the Control mechanism and can send a Control command to the Control mechanism, the upper computer platform can select the baud rate and can display the flight attitude, the angular velocity and the angular acceleration of the aerial delivery flapping wing flying robot, a Remote Control (RC) signal, position information, a speed signal and the like of a Remote controller in real time; meanwhile, a data curve can be displayed, an air-drop area can be automatically identified according to the aerial image acquired by the image acquisition module 26, an air-drop point can be predicted in real time by fusing the measurement data (flying speed, body attitude, flying height and the like) of the inertial measurement unit 32 and the global positioning system 33, and the air-drop point is displayed in the aerial image returned by the image acquisition module 26. In addition, video streams and data streams can be saved according to instructions input by a user; as an aid, the user can also manually execute an airdrop instruction and reset through the upper computer platform.
In addition, it is worth mentioning that, in the flapping wing flying robot of the present embodiment, except for the wing coating 1, the tail coating 7 and the external devices, other parts such as the main body frame 12, the wing frame, the tail frame, the transverse support frame 22 and the horizontal carrier frame 35 are all made of carbon fiber plates with a thickness of 1mm or 2mm, the weight of the whole machine is only about 150g, the light weight index can be met, and the air drop task can be completed on the platform of the flapping wing flying robot.
In conclusion, the air-drop flapping wing flying robot based on the cambered surface wing design has the advantages that the gradually-changed cambered surface structure is adopted for the wings, the bionic effect is better compared with the existing plane wing structure, the loading capacity of the airplane body can be effectively improved, the flying efficiency is improved through gliding, the autonomous air-drop system based on the vision is designed on the basis, the images collected by the airborne image collecting module in real time and the fusion data of the airborne IMU and the GPS are used for predicting the drop point of an air-drop object and executing an air-drop instruction, and the air-drop task can be completed autonomously.
Moreover, it is noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of additional like elements in the article or device comprising the element.
It should also be noted that while the above describes a preferred embodiment of the invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and are intended to be within the scope of the invention.
Claims (10)
1. An air-drop flapping wing flying robot based on cambered surface wing design is characterized by comprising a body, a cambered surface wing, a tail wing, a control mechanism, an air-drop mechanism and a battery;
the aerial-dropping flapping wing flying robot is characterized in that driving steering gears are fixed on the body, cambered wings are symmetrically connected to two sides of the body and are in transmission connection with the driving steering gears, and flap under the driving of the driving steering gears, so that the aerial-dropping flapping wing flying robot can provide lifting force and thrust required by flying; the empennage is connected to the rear end of the fuselage;
the control mechanism, the air-drop mechanism and the battery are all fixed on the machine body; the control mechanism comprises a control board, an inertia measurement unit and a global positioning system; the battery, the inertia measurement unit and the global positioning system are all electrically connected with the control board; the battery is used for supplying power to the control board;
the inertial measurement unit and the global positioning system are used for measuring the flight attitude and position of the aerial-casting flapping-wing flying robot; the control panel is used for receiving a control instruction of an upper computer platform, controlling the aerial-casting flapping wing flying robot to fly by controlling the driving steering engine through fusing the measurement data of the inertia measurement unit and the global positioning system, and controlling the aerial-casting mechanism to carry out aerial-casting.
2. The aerial delivery flapping wing flying robot based on cambered surface wing design of claim 1, wherein the control mechanism further comprises a data transmission module, the data transmission module is electrically connected with the control board and is used for transmitting the flying attitude and position of the aerial delivery flapping wing flying robot to the upper computer platform in real time.
3. The aerial delivery flapping wing flying robot based on cambered surface wing design of claim 2, wherein the body comprises a body main frame, a steering engine fixing piece and a transverse support frame; the steering engine fixing piece is inserted at the front end of the main body frame, and the driving steering engine is fixed on the steering engine fixing piece; one end of the transverse support frame is inserted into the rear end of the machine body main frame, and the other end of the transverse support frame is inserted into the driving steering engine.
4. An air-drop flapping wing flying robot based on cambered surface wing design according to claim 3, wherein said fuselage further comprises a horizontal carrier inserted into said fuselage main frame; the control board, the inertia measurement unit, the global positioning system, the data transmission module and the battery are all fixed on the horizontal object carrier.
5. The aerial delivery flapping wing flying robot of claim 1, wherein said cambered wing comprises a wing skeleton and a wing membrane covering said wing skeleton;
the wing framework comprises a leading edge rod, an outer side rod, an arc-shaped inclined strut and a wing rib which are fixed together; the rib and the diagonal brace form an airfoil camber; the tail end of the front edge rod is fixedly connected with a steering engine arm of the driving steering engine, and the tail end of the inclined strut is hinged to a rear edge fixing piece located at the rear end of the machine body.
6. The air-drop flapping wing flying robot based on cambered surface wing design of claim 1, wherein said tail comprises a tail mount, a tail skeleton and a tail film covering said tail skeleton; the empennage framework is connected with the empennage fixing piece in an inserting mode, and the empennage fixing piece is connected to the rear end of the fuselage in an inserting mode.
7. The aerial delivery ornithopter-based flying robot with cambered surface wing design of claim 1, wherein the aerial delivery ornithopter-based flying robot further comprises an image acquisition module, the image acquisition module is vertically installed downwards at the front position in the middle of the fuselage, and the image acquisition module is used for acquiring aerial images and transmitting the acquired aerial images to the upper computer platform for display in real time.
8. The aerial delivery flapping wing flying robot based on cambered surface wing design of claim 1, wherein the aerial delivery mechanism comprises an aerial delivery cabin and an aerial delivery steering engine; the aerial delivery steering engine and the aerial delivery bin are respectively installed on two sides of the machine body, the aerial delivery steering engine is electrically connected with the control mechanism, the aerial delivery bin is locked by a steering engine arm of the aerial delivery steering engine, and when the steering engine arm of the aerial delivery steering engine bounces open, the aerial delivery bin is opened.
9. The aerial delivery flapping wing flying robot based on cambered surface wing design of claim 7, wherein the upper computer platform is used for communicating with the control mechanism, sending control instructions to the control mechanism, and displaying the flight attitude, position information and speed signals of the aerial delivery flapping wing flying robot in real time.
10. The wing-over-air flapping flying robot based on cambered surface design of claim 9, wherein the upper computer platform is further used for autonomously identifying an air-dropping area according to the aerial image collected by the image collecting module, predicting an air-dropping drop point in real time by fusing the measurement data of the inertial measurement unit and the global positioning system, and displaying the air-dropping drop point in the aerial image returned by the image collecting module.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112009722A (en) * | 2020-08-06 | 2020-12-01 | 北京航空航天大学 | Aerodynamic efficiency and mechanical efficiency measuring device of flapping-wing micro aircraft |
| CN113173247A (en) * | 2021-05-07 | 2021-07-27 | 北京航空航天大学 | Bionic folding unmanned aerial vehicle using flexible airfoil |
| CN113282107A (en) * | 2021-06-30 | 2021-08-20 | 北京科技大学 | Control method of flapping wing flying robot flexible wing based on three-dimensional trajectory tracking |
| CN113844652A (en) * | 2021-11-08 | 2021-12-28 | 北京航空航天大学 | Bionic miniature flapping wing aircraft using empennage for auxiliary control |
| CN113955100A (en) * | 2021-12-02 | 2022-01-21 | 西北工业大学深圳研究院 | High-aerodynamic performance miniature flapping wing aircraft wing |
| CN116853547A (en) * | 2023-07-21 | 2023-10-10 | 北京科技大学 | Miniature ornithopter based on double rudder turns to |
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| CN112009722B (en) * | 2020-08-06 | 2021-12-17 | 北京航空航天大学 | Aerodynamic efficiency and mechanical efficiency measuring device of flapping-wing micro aircraft |
| CN113173247A (en) * | 2021-05-07 | 2021-07-27 | 北京航空航天大学 | Bionic folding unmanned aerial vehicle using flexible airfoil |
| CN113173247B (en) * | 2021-05-07 | 2022-12-09 | 北京航空航天大学 | Bionic folding unmanned aerial vehicle using flexible airfoil |
| CN113282107A (en) * | 2021-06-30 | 2021-08-20 | 北京科技大学 | Control method of flapping wing flying robot flexible wing based on three-dimensional trajectory tracking |
| CN113844652A (en) * | 2021-11-08 | 2021-12-28 | 北京航空航天大学 | Bionic miniature flapping wing aircraft using empennage for auxiliary control |
| CN113955100A (en) * | 2021-12-02 | 2022-01-21 | 西北工业大学深圳研究院 | High-aerodynamic performance miniature flapping wing aircraft wing |
| CN116853547A (en) * | 2023-07-21 | 2023-10-10 | 北京科技大学 | Miniature ornithopter based on double rudder turns to |
| CN116853547B (en) * | 2023-07-21 | 2024-04-05 | 北京科技大学 | Miniature ornithopter based on double rudder turns to |
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