CN112141331B - Miniature flapping wing capable of realizing large deformation and high control moment generation - Google Patents
Miniature flapping wing capable of realizing large deformation and high control moment generation Download PDFInfo
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- CN112141331B CN112141331B CN202010782778.8A CN202010782778A CN112141331B CN 112141331 B CN112141331 B CN 112141331B CN 202010782778 A CN202010782778 A CN 202010782778A CN 112141331 B CN112141331 B CN 112141331B
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- wing
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- elastic rod
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- root elastic
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The invention discloses a miniature flapping wing capable of realizing large deformation and high control moment generation, which changes the fixed connection mode of a flapping wing root elastic rod and a frame into two-way hinge connection, increases the transverse and longitudinal moving range of the wing root elastic rod, and enables the deformation degree and the attack angle change of a wing membrane to be more obvious in the process of flapping the flapping wing back and forth, thereby greatly increasing the change range of rolling moment and pitching moment, enhancing the control rudder effect, and greatly improving the control effect, the disturbance resistance and the maneuvering flight capability of a flapping wing aircraft. In addition, due to the modularized design of the flapping wings, the whole bidirectional hinge device can be decomposed into simple independent units, so that the flapping wings are convenient to disassemble, assemble and maintain, and the cost is saved.
Description
Technical Field
The invention relates to the field of miniature flapping wing aircrafts, in particular to a miniature flapping wing design capable of realizing large deformation and high control moment generation.
Background
In recent years, with the rapid development of technologies such as micro-electromechanical technology, computer technology, artificial intelligence and the like, and the continuous progress of aircraft design technology, various miniature aircrafts develop more and more rapidly. Compared with a fixed wing type micro aircraft and a rotary wing type micro aircraft, the micro flapping wing type micro aircraft has higher pneumatic efficiency under the condition of low Reynolds number, and is greatly applied to bionic design. Meanwhile, the aircraft has the advantages of concealment, miniaturization and the like, and becomes an important direction for the development of the miniature aircraft. The current micro flapping wing air vehicle also faces difficulty in efficient and accurate control.
The miniature flapping wing air vehicle disclosed at present generally adopts a tail-free configuration in order to more closely approach the smaller-sized insects or hummingbirds in the nature. The flight control of the aircraft is realized by controlling the deformation of an airfoil surface and further controlling the attack angle of the airfoil, such as a miniature bionic flapping wing aircraft based on a single-crank double-rocker mechanism (ZL109606675A) and a bionic hummingbird aircraft (ZL 110329505A). In the actual implementation process, the steering engine is usually used for pulling the wing root elastic rod, and the tension degree of the wing membrane in the flapping process of the flapping wing is changed in an elastic deformation mode of the wing root rod, so that the change of the front and back flapping attack angle and the shape of the wing membrane in the flapping process of the flapping wing is realized, the difference of aerodynamic force of the flapping wing front and back or the left and right wings is caused, the pitching moment and the rolling moment are finally generated, and the attitude control of the aircraft is realized. The patent: a bionic hummingbird aircraft (ZL110329505A) discloses a microminiature tailless flapping wing aircraft, wherein a wing root elastic rod is fixedly connected with a rack, and the elastic rod is transversely pulled by a steering engine to deform, so that wing membranes of left and right flapping wings deform, the flapping wings on two sides have lift difference, rolling torque is generated to control the aircraft body to roll, the elastic rod is longitudinally pulled to enable the flapping wings on two sides to simultaneously generate the same vertical flapping attack angle change, and then pitching torque is generated to control the aircraft body to head-down and head-up. The scheme realizes attitude control in a small range to a certain extent, but because the flapping wing root elastic rod is usually higher in bending rigidity and limited in deformation, the change of the attack angle of the flapping wing and the tension change degree of a wing membrane are insufficient, so that the generated pitching and rolling control moments are too small, the large-amplitude attitude adjustment is difficult to realize, and the rapid response of the aircraft after disturbance is difficult to realize on the one hand. Meanwhile, the control margin for the aircraft except for maneuvering is insufficient when the aircraft maneuvers, and the maneuverability of the aircraft is poor.
Disclosure of Invention
The invention provides a micro flapping wing capable of realizing large deformation and high control moment generation, aiming at the problems that the flapping wing of the existing micro flapping wing aircraft can only change the tension degree of a wing membrane in the process of flapping the wing up and down in a small way by means of the deformation of a wing root rod, so that the pneumatic control moment generated by the control action is small, the control rudder effect is small and the efficient attitude control is difficult to maintain. The invention realizes the increase of the transverse and longitudinal movement range of the flapping wing root rod, so that the deformation degree of a wing membrane and the change of an attack angle are more obvious in the process of flapping the flapping wing forwards and backwards, the change ranges of the rolling moment and the pitching moment are greatly increased, the control rudder effect is enhanced, and the control effect, the disturbance resistance and the maneuvering flight capability of the flapping wing aircraft are greatly improved.
The micro flapping wing capable of realizing large deformation and high control moment comprises a flapping wing, a fixing device and a direction changing device, and the aircraft comprises the flapping wing, a flapping transmission mechanism and a control steering engine.
The flapping wings comprise flexible wing membranes, transverse straight beams, oblique elastic rods and wing root elastic rods; the flexible wing membrane is made of polyimide material and is in a bionic flapping wing shape, the front edge is horizontal, the rear edge is in a circular arc shape, and the chord length from the wing root to the wing tip is reduced; the front edge of the flexible wing membrane is bonded with the transverse straight beam, one side of the wing root is bonded with the wing root elastic rod, and the wing root elastic rod is bonded on one side of the wing root of the flexible wing membrane in a mode that the included angle between the wing root elastic rod and the bonding part of the transverse straight beam is 100-120 degrees in the flat state of the flexible wing membrane; the inclined elastic rod is bonded on the flexible wing membrane and forms an included angle of 20-50 degrees with the transverse straight beam; the root of the transverse straight beam is connected with the flapping transmission mechanism; the front edge end of the wing root elastic rod is connected with a hinge device B of the direction changing device, and the rear edge of the wing root elastic rod is controlled by the control steering engine to drive the direction changing device to synchronously rotate; after the flapping wings are installed on the aircraft, the transverse straight beam is fixed, the wing root elastic rods are perpendicular to the horizontal plane in a hovering state, the flexible wing membrane is loosened, and when the aircraft is maneuverable, the wing root elastic rods are driven by the control steering engine to wind the fixing device to rotate in two directions to drive the flapping wings to deform, so that control torque is generated to perform attitude control.
The fixing device comprises a frame and a hinge device A; the rack is of a three-dimensional structure and is used for mounting each part structure of the aircraft, the rack comprises a flapping transmission mechanism and a control steering engine, and mounting hole positions are designed at the mounting parts of the wing root elastic rods on the rack so as to fix the hinge device A; hinge means A is spatial structure, and its one end is the cuboid, with frame fixed connection, and the other end is U type groove structure, and there is the auricle at both ends, has beaten the through-hole above the auricle, with turning festival of deviator is connected, makes deviator and wing root elastic rod can wind self bidirectional rotation.
The direction changing device comprises a hinge device B and a direction changing section; the hinge device B is of a three-dimensional structure, the upper end of the hinge device B is of a U-shaped groove structure, the two ends of the hinge device B are provided with lugs, through holes are formed above the lugs, a cylinder structure is arranged below the lugs, and a cylindrical hole position is reserved below the cylinder and used for mounting the wing root elastic rod; the center part of the turning joint is a cube, small round tables are protruded on four sides, the small round tables on the front side and the rear side are inserted into the reserved hole positions in the hinge device A to form a revolute pair, the small round tables on the left side and the right side are inserted into the reserved through holes in the hinge device B to form a revolute pair, and therefore the hinge device B can drive the wing root elastic rod to rotate bidirectionally around the two revolute pairs.
The manufacturing and installation process of the miniature flapping wing capable of realizing large deformation and high control moment generation comprises the following steps:
(1) cutting out a flexible wing membrane, respectively folding and wrapping the transverse straight beam and the wing root elastic rod by using the flexible wing membrane, and bonding the inclined elastic rod at the corresponding position; the transverse straight beam of the flapping wing is connected with a flapping mechanism arranged on the frame, and the wing root elastic rod is inserted into the circular hole at the elastic rod mounting end of the hinge device B and is bonded and fixed.
(2) The rectangular ends of the two hinge devices A are riveted to mounting holes at the wing roots of the rack respectively through rivets, and the U-shaped ends are connected with the turning joints respectively; then, the two hinge devices B are installed with the turning sections, so that the flapping wings are connected with the rack through the turning devices; at this time, the through hole corresponding direction of the hinge device A is the left-right direction, and the through hole corresponding direction of the hinge device B is the front-back direction.
The control method of the miniature flapping wing capable of realizing large deformation and high control moment generation comprises the steps that when flying maneuvers are carried out, the flapping wings flap to generate lift force, lift force difference is formed by controlling the tensioning degree of the left and right flapping wings to carry out roll control, and drag moment is generated by changing the attack angle of the flapping wings to carry out pitch control; when the aircraft suspends, the flapping transmission mechanism drives the flapping wings to flap in the horizontal plane to generate lift force; when the aircraft does not need to control the attitude and hover, the wing root elastic rod is perpendicular to the plane of the rack and the flapping wing transverse straight beam, the deformation degree of the wing membrane of the flapping wing is the same, the variation of the attack angle of the flapping wing is the same, and no control moment is generated.
When the aircraft needs to generate a right rolling torque, the steering engine pulls the tail ends of the wing root elastic rods of the two flapping wings to the right side, and the wing root elastic rods rotate to the right side around a revolute pair formed by the turning joint and the hinge device B, so that the left flapping wing flexible wing membrane is tensioned, and the right flapping wing flexible wing membrane is relaxed; compared with the hovering state, the left flapping wing flexible wing membrane is tensioned, and the attack angle is increased; the flexible wing membrane of the flapping wing on the right side is relaxed, and the attack angle is reduced; therefore, the lift force of the flapping wing on the left side is increased, the lift force of the flapping wing on the right side is reduced, and a right rolling moment is generated; when the aircraft needs to generate a right rolling moment, the steering engine pulls the tail ends of the wing root elastic rods of the two flapping wings to the left side.
When the aircraft needs to generate the pitching control moment for head raising, the steering engine pulls the tail end of the flapping wing root elastic rod forward, the wing root elastic rod and the hinge device B rotate forward around a revolute pair formed by the turning joint and the hinge device A together, so that the attack angle is increased when the left and right flapping wings flap up, the effective stress area of the flapping wings is increased, the attack angle is reduced when the flapping wings flap down, the effective stress area of the flapping wings is reduced, a backward resistance is generated in a flapping cycle, and the acting point generated by the resistance is above the gravity center of the aircraft, so that the pitching moment for head raising forward is generated; when the aircraft needs to generate a pitching control moment with a low head, the steering engine pulls the tail end of the wing root elastic rod of the flapping wing backwards.
The invention has the advantages that:
1. the utility model provides a can realize the miniature flapping wing that big deformation and high control moment produced, change flapping wing root elastic rod and the fixed connected mode of frame into through two-way hinged joint, increased wing root elastic rod at horizontal, fore-and-aft home range, thereby increased wing membrane tensioning variation range and flapping wing angle of attack variation range, and then increased the change interval of roll-over moment and pitching moment, strengthened the control rudder effect, thereby make the control effect of flapping wing aircraft, disturbance resisting ability, the motor flight ability promotes by a wide margin.
2. The utility model provides a can realize the miniature flapping wing that big deformation and high control moment produced for through modular design, make whole two-way hinge means decompose into each simple independent unit, the application of being convenient for, the dismouting maintenance of being convenient for simultaneously, need not whole change when individual unit damages, practice thrift the cost.
Drawings
FIG. 1 is a schematic view of a micro flapping wing of the present invention with high deformation and high control moment;
FIG. 2 is a schematic view of a micro flapping wing membrane of the present invention in a flat state, capable of achieving large deformation and high control moment;
FIG. 3 is a schematic view of a fastening device for a micro flapping wing capable of achieving large deformation and high control moment generation according to the present invention;
FIG. 4 is a schematic view of a direction changing device of a micro flapping wing capable of realizing large deformation and high control moment generation according to the present invention;
FIG. 5 is a schematic diagram of the right roll control of a micro flapping wing capable of achieving large deformation and high control moment generation according to the present invention;
FIG. 6 is a schematic view of the head-up control of a micro flapping wing capable of achieving large deformation and high control moment generation according to the present invention;
FIG. 7 is a schematic view of the reduction of the angle of attack during flapping of a miniature flapping wing of the present invention with high deflection and high control moment;
in the figure:
1-flapping wing 2-fixing device 3-direction changing device
101-flexible wing membrane 102-transverse straight beam 103-oblique elastic rod
104-root elastic rod 201-frame 202-hinge device A
301-hinge device B302-direction-changing joint
Detailed Description
The following describes in detail a specific embodiment of the present invention with reference to the drawings.
A miniature flapping wing capable of realizing large deformation and high control moment generation is shown in figure 1 and comprises a flapping wing 1, a fixing device 2 and a direction changing device 3.
As shown in fig. 2, the flapping wing includes a flexible wing membrane 101, a transverse straight beam 102, a diagonal elastic rod 103, and a wing root elastic rod 104. The flexible wing membrane 101 is made of polyimide and is in a bionic flapping wing shape, the front edge is horizontal, the rear edge is in a circular arc shape, and the chord length from the wing root to the wing tip is reduced; the front edge of the flexible wing membrane 101 is bonded with the transverse straight beam 102, one side of the wing root is bonded with the wing root elastic rod 104, and the wing root elastic rod 104 is bonded on one side of the wing root of the flexible wing membrane 101 in a mode that the included angle between the flexible wing membrane 101 and the bonding part of the transverse straight beam 102 is 100-120 degrees in the flat state of the flexible wing membrane 101; the inclined elastic rods 103 are bonded on the flexible wing membranes 101 and form an included angle of 20-50 degrees with the transverse straight beams 102; the root of the transverse straight beam 102 is connected with an aircraft flapping transmission mechanism; the front edge end of the wing root elastic rod 104 is connected with a hinge device B301 of the direction changing device 3, and the rear edge is controlled by a control steering engine to drive the direction changing device 3 to synchronously rotate; after the flapping wing 1 is installed on an aircraft, the transverse straight beam 102 is fixed, the wing root elastic rod 104 is perpendicular to the horizontal plane in a hovering state, the flexible wing film 101 is loosened, and when the aircraft is in a maneuvering state, the wing root elastic rod 104 rotates around the fixing device 2 in two directions under the driving of the control steering engine to drive the flapping wing 1 to deform, so that control torque is generated to perform attitude control.
As shown in fig. 3, the fixing device 2 includes a frame 201, a hinge device a 202; the frame 201 is a three-dimensional structure and comprises a flapping transmission mechanism and a control steering engine for mounting each part of the aircraft, and mounting hole positions are designed at the mounting parts of the wing root elastic rods 104 on the frame 201 so as to fix the hinge device A202; the hinge device a202 is a three-dimensional structure, one end of which is fixedly connected with the frame 201, and the other end of which is connected with the direction-changing section 302 of the direction-changing device 3, so that the direction-changing device 3 and the wing root elastic rod 104 can rotate bidirectionally around the fixing device 2.
As shown in fig. 4, the direction changing device 3 includes a hinge device B301 and a direction changing joint 302; the hinge device B301 is of a three-dimensional structure, one end of the hinge device B is connected with the turning joint 302 and can rotate around the mounting shaft, and the other end of the hinge device B is used for fixing the wing root elastic rod 104 of the flapping wing 1; the direction-changing section 302 is of a three-dimensional structure and serves as a movable joint to connect the fixing device 2 and the hinge device B301, so that the hinge device B301 drives the wing root elastic rod 104 to perform bidirectional movement around the fixing device 2 through the direction-changing section 302.
The manufacturing and installation process of the miniature flapping wing capable of realizing large deformation and high control moment generation comprises the following steps:
(1) cutting out a flexible wing membrane 101, respectively folding and wrapping a transverse beam 102 and a wing root elastic rod 104 by using the flexible wing membrane 101, and bonding an oblique elastic rod 103 at a corresponding position; the transverse beam 102 is connected with a flapping mechanism arranged on the frame 201, and the wing root elastic rod 104 is inserted into the elastic rod mounting end round hole of the hinge device B301 and is adhered and fixed.
(2) The cuboid ends of the two hinge devices A202 are respectively riveted to mounting holes at the wing roots of the frame 201 through rivets, and the U-shaped ends are respectively connected with the turning joints 302; then, two hinge devices B301 are installed with the turning joints, so that the flapping wing 1 is connected with the rack 201 through the turning devices 3; in this case, the direction corresponding to the through hole of the hinge device a202 is the left-right direction, and the direction corresponding to the through hole of the hinge device B301 is the front-back direction.
The control method of the miniature flapping wing capable of realizing large deformation and high control moment generation comprises the steps that when flying maneuvers are carried out, the flapping wings 1 flap to generate lift force, lift force difference is formed by controlling the tensioning degree of the left and right flapping wings 1 to carry out roll control, and resistance moment is generated by changing the attack angle of the flapping wings 1 to carry out pitch control; when the aircraft suspends, the flapping transmission mechanism drives the flapping wings 1 to flap in a horizontal plane to generate lift force; the aircraft does not need to carry out attitude control, the wing root elastic rod 104 is perpendicular to the plane of the rack 201 and the flapping wing transverse straight beam 102, the flexible wing membrane 101 of the flapping wing 1 which is vertically flapped has the same deformation degree at the moment, the change of the attack angle of the vertical flapping is consistent, and no control moment is generated at the moment.
According to the control method of the miniature flapping wing capable of realizing large deformation and high control moment generation, as shown in fig. 5, when the aircraft needs to generate a right rolling moment, the steering engine pulls the tail end of the wing root elastic rod 104 of the flapping wing 1 to the right side, and the wing root elastic rod 104 rotates rightwards around a revolute pair formed by the turning joint 302 and the hinge device B301, so that the flexible wing membrane 101 of the flapping wing 1 on the left side is tensioned, and the flexible wing membrane 101 of the flapping wing 1 on the right side is relaxed; compared with the hovering state, the flexible wing membrane 101 of the left flapping wing 1 is tensioned, and the attack angle is increased; the flexible wing membrane 101 of the right flapping wing 1 is relaxed, and the attack angle is reduced; therefore, the lift force of the flapping wing 1 on the left side is increased, the lift force of the flapping wing 1 on the right side is reduced, and a right rolling moment is generated; when the aircraft needs to generate a right rolling moment, the steering engine pulls the tail ends of the wing root elastic rods 104 of the two flapping wings 1 to the left side.
As shown in fig. 6, when the aircraft needs to generate a head-up pitching control moment, the steering engine pulls the tail end of the wing root elastic rod 104 of the flapping wing 1 forward, the wing root elastic rod 104 and the hinge device B301 rotate forward around a revolute pair formed by the turning joint 302 and the hinge device a202 together, so that the attack angle of the flapping wings 1 on the left side and the right side is increased relative to the attack angle during upward flapping, the effective stress area of the flapping wings is increased, the attack angle during downward flapping is decreased, the effective stress area of the flapping wings is decreased as shown in fig. 7, a backward resistance is generated in a flapping cycle, and the resistance generates an action point above the gravity center of the aircraft, so that a forward head-up pitching moment is generated; when the aircraft needs to generate a low-head pitching control moment, the steering engine pulls the tail end of the wing root elastic rod 104 of the flapping wing 1 backwards.
Claims (5)
1. A micro flapping wing capable of realizing large deformation and high control moment generation comprises a flapping wing, a fixing device and a direction changing device; the method is characterized in that:
the flapping wing comprises a flexible wing membrane, a transverse straight beam, an oblique elastic rod and a wing root elastic rod, the fixing device comprises a rack and a hinge device A, and the direction changing device comprises a hinge device B and a direction changing section; the aircraft comprises the flapping wings, a flapping transmission mechanism and a control steering engine;
the front edge of the flexible wing membrane is bonded with the transverse straight beam, one side of the root of the flexible wing membrane is bonded with the wing root elastic rod, the inclined elastic rod is bonded on the flexible wing membrane, and the position of the inclined elastic rod is fixed within the range of 20-50 degrees of included angle with the transverse straight beam; the root of the transverse straight beam is connected with the flapping transmission mechanism; the front edge end of the wing root elastic rod is connected with a hinge device B of the direction changing device, and the rear edge of the wing root elastic rod is controlled by the control steering engine to drive the direction changing device to synchronously rotate;
the rack is of a three-dimensional structure and is used for mounting various structures of the aircraft, the rack comprises the flapping transmission mechanism and a control steering engine, and mounting hole positions are designed at the mounting parts of the wing root elastic rods on the rack so as to fix the hinge device A; the hinge device A is of a three-dimensional structure, one end of the hinge device A is a cuboid and is fixedly connected with the rack, the other end of the hinge device A is of a U-shaped groove structure, the two ends of the hinge device A are provided with lugs, through holes are formed above the lugs, and the through holes are connected with the direction-changing sections of the direction-changing device, so that the direction-changing device and the wing root elastic rods can rotate around the direction-changing device and the wing root elastic rods in two directions;
the hinge device B is of a three-dimensional structure, the upper end of the hinge device B is of a U-shaped groove structure, the two ends of the hinge device B are provided with lugs, through holes are formed above the lugs, a cylinder structure is arranged below the lugs, and a cylindrical hole position is reserved below the cylinder and used for mounting the wing root elastic rod; the center of the turning joint is a cube, small round tables protrude from four sides, the small round tables on the front side and the rear side are inserted into the reserved hole positions in the hinge device A to form a revolute pair, and the small round tables on the left side and the right side are inserted into the reserved through holes in the hinge device B to form a revolute pair, so that the hinge device B can drive the wing root elastic rod to perform bidirectional rotation around the axes of the two revolute pairs;
after the flapping wings are installed on an aircraft, the transverse straight beam is fixed, the wing root elastic rod is vertical to the horizontal plane in a hovering state, and the flexible wing membrane is loose; when the aircraft maneuvers, the wing root elastic rod is driven by the control steering engine to rotate around the fixing device in two directions to drive the flapping wings to deform, so that control torque is generated to perform attitude control.
2. The micro flapping wing capable of realizing large deformation and high control moment generation as claimed in claim 1, wherein the wing root elastic rod is fixed on one side of the wing root of the flexible wing membrane in a flat state of the flexible wing membrane, and the included angle between the wing root elastic rod and the bonding part of the transverse straight beam is 100-120 degrees.
3. The method for controlling a miniature flapping wing capable of realizing large deformation and high control moment generation according to any one of claims 1-2, wherein when a flight maneuver is performed, the flapping wing beats to generate lift force, the roll control is performed by controlling the tension degree of the left and right flapping wings to form a lift force difference, and the pitch control is performed by changing the attack angle of the flapping wing to generate a resistance moment; when the aircraft is suspended, the flapping transmission mechanism drives the flapping wings to flap in the horizontal plane to generate lift force, the aircraft does not need to be subjected to attitude control, the wing root elastic rods are perpendicular to the plane of the rack and the transverse straight beams of the flapping wings, the deformation degree of wing membranes of the flapping wings which flap up and down is the same, the variation of the attack angle of the flapping wings up and down is the same, and no control moment is generated.
4. The method for controlling the miniature flapping wings capable of realizing the large deformation and the high control moment generation as claimed in claim 3, wherein when the aircraft needs to generate the right rolling moment, the steering engine pulls the tail ends of the wing root elastic rods of the two flapping wings to the right side, and the wing root elastic rods rotate to the right around the revolute pair formed by the turning joint and the hinge device B, so that the left flapping wing flexible wing membrane is tensioned, the right flapping wing flexible wing membrane is relaxed, and compared with the hovering state, the left flapping wing flexible wing membrane is tensioned, and the attack angle is increased; the flexible wing membrane of the flapping wing on the right side is relaxed, and the attack angle is reduced; therefore, the lift force of the flapping wing on the left side is increased, the lift force of the flapping wing on the right side is reduced, and a right rolling moment is generated; when the aircraft needs to generate a right rolling moment, the steering engine pulls the tail ends of the wing root elastic rods of the two flapping wings to the left side.
5. The method as claimed in claim 3, wherein when the aircraft needs to generate a pitching moment for raising the head, the steering engine pulls the tail end of the flapping wing root elastic rod forward, and the wing root elastic rod rotates forward together with the hinge device B around the revolute pair formed by the turning joint and the hinge device A, so that the attack angle is increased when the flapping wings on the left and right sides flap up and decreased when the flapping wings flap down, thereby generating a backward resistance in a flapping cycle, and generating a pitching moment for raising the head forward because the acting point of the resistance is above the gravity center of the aircraft; when the aircraft needs to generate a pitching control moment with a low head, the steering engine pulls the tail end of the flapping wing root elastic rod backwards.
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| CN202010782778.8A CN112141331B (en) | 2020-08-06 | 2020-08-06 | Miniature flapping wing capable of realizing large deformation and high control moment generation |
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| CN202010782778.8A CN112141331B (en) | 2020-08-06 | 2020-08-06 | Miniature flapping wing capable of realizing large deformation and high control moment generation |
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| CN113911342A (en) * | 2021-11-08 | 2022-01-11 | 北京航空航天大学 | Bionic flapping wing micro aircraft capable of realizing controllable flapping amplitude based on elastic energy storage of wing root |
| CN114104283A (en) * | 2021-11-08 | 2022-03-01 | 北京航空航天大学 | Bionic miniature flapping wing aircraft lift force and rolling torque control method |
| CN113911344B (en) * | 2021-11-08 | 2023-06-27 | 北京航空航天大学 | Bionic flapping-wing micro air vehicle for rolling control by utilizing flapping amplitude differential motion |
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| DE102010034755B4 (en) * | 2010-08-19 | 2013-11-07 | Michael Frey | Linkage of one aerodynamic component to another component according to the RDS principle |
| CN103552689B (en) * | 2013-11-11 | 2015-07-08 | 北京航空航天大学 | Minitype ornithopter wing driving mechanism with changeable wing area |
| CN105314109B (en) * | 2015-09-09 | 2017-10-10 | 吴立群 | A kind of wing drive mechanism of flapping wing aircraft |
| CN109823533B (en) * | 2019-02-26 | 2022-04-08 | 南开大学 | Miniature flapping wing mechanism based on electromagnetic actuator drive |
| 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 |
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