KR20120010882A - Humming bird type of robotic mechanism with hovering capability and method thereof - Google Patents

Abstract

PURPOSE: A hummingbird type robot mechanism for pause aviation implementation and a method thereof are provided to implement pause aviation or free aviation through aviation mechanism of first degree of freedom. CONSTITUTION: A hummingbird type robot mechanism for pause aviation implementation comprises a frame part(200), an actuator, a power transmission, a wing operation part, and a wing(500). The actuator holder is installed in one side of the frame part. The actuator is installed in the actuator holder of the frame part. The power transmission is installed in the frame part and converts the rotational motion, generated by an actuator, into reciprocating motion. The vane operation part is combined in the power transmission and converts the reciprocating motion of the power transmission into fluttering motion.

Description

HUMMING BIRD TYPE OF ROBOTIC MECHANISM WITH HOVERING CAPABILITY AND METHOD THEREOF

The present invention relates to a hummingbird robot mechanism and its method for implementing stationary flight. Specifically, the present invention is a fly flight that simulates the actual winging in one degree of freedom by using a link mechanism of the two degrees of freedom motion of the rotational motion and the pure winging motion that has a major influence on the lift generation from the complex winging of insects or hummingbirds The present invention relates to a hummingbird robot mechanism and a method for implementing a stationary flight that implements a mechanism and enables stationary or free flight through such a mechanism.

Recently, research on biomimetic technology that artificially mimics various functions of a biological system has been actively conducted. Among these biomimetic attempts, in particular, the aircraft is of great value for engineering, social, military, and commercial aspects. Current aviation technology with simple fixed wing has been well applied to large aircraft. In addition, helicopters using propellers are capable of vertical takeoff and landing and stationary flight. However, such a fixed wing or a rotorcraft has a disadvantage in that maneuverability and size thereof are difficult to maneuver or operate when a confidential flight or an active area is relatively narrow.

Accordingly, research on a small aircraft called MAV (Micro Air Vehicle) has been actively conducted. Since such a vehicle may not be caught by a radar if it is made small, the possibility of using it as a spy or a surveillance vehicle as well as a toy is greatly open. As a study on the MAV, a study on a wing that mimics the flight of an insect or a hummingbird is used.

Flying insects or birds is the most maneuverable of all known flight types, and can take off and land quickly as well as take off and land vertically. In addition, the hummingbird, the smallest bird among the birds, has a unique wing shape and wing behavior unlike general birds' flight method to freely stop and move forward in the air. This type of flight can compensate for the drawbacks of the fixed or rotary wing vehicle described above in terms of maneuverability. In particular, the principle of flying insects or hummingbirds is applied to the flying aircraft for information acquisition in dangerous areas, that is, where confidentiality is required in narrow spaces such as rescue operations, intelligence activities, and traffic management, or where fast acceleration / deceleration and redirection are required. By doing so, maximum utility can be expected.

However, the wings of hummingbirds and insects are complex freedom movements with complex patterns. Therefore, it is necessary to analyze the wings of life and extract repetitive spatial movements, and to develop a low-induced mechanism to implement them.

Therefore, in view of the above-described problems, the present invention uses a link mechanism to implement two degrees of freedom motions, which are mainly influences on lift generation from the complex winging of insects or hummingbirds, using a link mechanism. The present invention provides a flight mechanism that simulates winging, and provides a hummingbird robot mechanism and its method for implementing a stationary flight that enables stationary or free flight through such a mechanism.

In one aspect, the hummingbird robot mechanism for implementing a stationary flight according to the present invention, the frame portion having an actuator holder on one side; An actuator installed in an actuator holder of the frame part; A power transmission unit installed in the frame unit and converting a rotational motion generated by the actuator into a reciprocating motion; A wing operating unit coupled to the power transmission unit for converting a reciprocating motion of the power transmission unit into a wing; And a wing coupled to the wing operation unit.

The actuator may be made of any one of an electric motor, a pneumatic motor, and a hydraulic motor.

The power transmission unit may be composed of a dual structure crank-slider six-section mechanism to operate as a single actuator by giving a phase difference. The crank-slide six-section mechanism includes a four- slider slider for reciprocating along the slide rod; One side is coupled to the slider four-section mechanism and the other side is coupled to the actuator is a dual structure crank for converting the rotary motion generated in the actuator to the reciprocating motion so that the slider four-section mechanism can slide; And a coupler for coupling the power transmission unit and the wing operation unit.

The dual crank is preferably a structure having a phase difference of 22.5 ° to give two input angles to one wing.

The wing operating portion may be made of a spherical five-section mechanism that is interlocked with the power transmission portion. By adjusting the two degrees of freedom rotational motion and pure winging motion using the spherical five-section mechanism, the width, angle of attack, the start of the wing rotation, the duration of the wing rotation, and the deviation of the wing motion affecting lift You can increase the lift by adjusting the parameters of the degree.

The spherical five-section mechanism is coupled to the power transmission unit on one side and the other side to the blade, and determines the position of the blade through the two input angles (θ ₁ , θ ₂ ) and the relative position of the input angle (Δθ = θ ₁ -θ ₂ ) so that the movement of the blades makes the motion of two degrees of freedom of rotation and pure blades, the value of Δθ is kept constant during the rotation, and the sign of Δθ in the upstroke and downstroke of the pure blades Are opposite to each other so as to implement a pure wing, the use of a bushing in the combination of the old five-section mechanism and the power transmission can be reduced friction and minimize the occurrence of jamming.

In another aspect, the micro-air vehicle according to the present invention includes a frame portion having a motor that is an actuator; A power transmission unit installed in the frame unit and converting a rotational motion generated by the actuator into a reciprocating motion through a crank-slider section 6 mechanism having a dual structure; A wing operating unit linked with the power transmission unit for converting a reciprocating motion of the power transmission unit into a wing through a spherical 5 section mechanism; A wing coupled to the wing operation unit; And a control unit for wirelessly controlling the motor, wherein the dual structure crank-slider section 6 may have a structure having a phase difference to be operated by one actuator.

The crank-slide six-section mechanism includes a four- slider slider for reciprocating along the slide rod; A crank having a dual structure for converting the rotary motion generated from the actuator into a reciprocating motion so that the slider section 4 mechanism can slide; And a coupler for coupling the power transmission unit and the wing operation unit, wherein the dual structure crank has a phase difference of 22.5 ° to give two input angles to one wing.

The spherical 5-section mechanism is coupled to the crank-slider section 6 mechanism, and the wing movement that affects lift by adjusting the rotational motion and the pure wing movement, which are the two degrees of freedom constituting the wing construction, using the spherical 5-section mechanism. To increase lift by adjusting parameters such as blade width, angle of attack, blade rotation start, blade rotation duration, and deflection, and reduce and pinch friction by using bushings in combination with the older five-section and crank-slide six-section instruments. Occurrence can be minimized.

In another aspect, the flying method of the hummingbird type robot mechanism according to the present invention, converts the rotational movement generated by the actuator into a reciprocating motion through a dual structure crank-slider section 6 mechanism having a phase difference, the double structure The spherical five-section instrument, which works with the crank-slider section of the instrument, can be converted into a wing to allow stationary or free flight.

The dual structure of the crank-slider section 6 mechanism and the old section 5 mechanism is applied to the ultra-compact vehicle, and by interlocking to implement the wing can be able to enable stationary flight or free flight.

Bushings can be used to combine the dual structure crank-slider 6-section and spherical 5-section mechanisms to increase the lift by minimizing friction reduction and pinching.

According to the present invention, a two-degree of freedom movement of a rotational motion and a pure winging motion, which have a major influence on lift generation from a complex winging of an insect or a hummingbird, using a link mechanism, a flight mechanism that simulates the actual winging in one degree of freedom. It is possible to implement stationary flight or free flight through this flight mechanism.

In addition, by adjusting the rotational motion and pure wing motion of the two degrees of freedom constituting the wing by using the five-section mechanism of the hummingbird robot mechanism according to the present invention, the width of the wing, angle of attack, wings Parameters of rotation start, wing rotation duration, and degree of deviation can be adjusted to maximize lift.

In addition, the hummingbird robot mechanism according to the present invention can be applied to a micro-flying body of the same size as the insect.

1 is a view schematically showing a cross section of the wing for explaining the operation of the hummingbird and the operation of the hummingbird.
2 is a view schematically showing the wing cross section of the symmetrical operation during the operation of the hummingbird wing.
3 is a view schematically showing the wing cross section of the delay operation during the operation of the hummingbird wings.
4 is a view schematically showing the wing cross section of the preceding operation of the hummingbird wing operation.
5 is a perspective view of a hummingbird robot mechanism for implementing stationary flight according to an embodiment of the present invention.
Figure 6 is a perspective view showing a frame portion of the hummingbird robot mechanism according to an embodiment of the present invention.
7 is a perspective view showing a crank-slider section 6 mechanism of the hummingbird robot mechanism according to an embodiment of the present invention.
8 is a perspective view showing a spherical five section mechanism of the hummingbird robot mechanism according to an embodiment of the present invention.
FIG. 9 is a conceptual diagram illustrating a spherical 5 section mechanism of a hummingbird robot mechanism according to an embodiment of the present invention.
FIG. 10 is a diagram showing a trajectory of an operation obtained from the analysis of the conceptual diagram shown in FIG. 9.

BRIEF DESCRIPTION OF THE DRAWINGS The above objects, features and advantages will become more apparent through the following examples in conjunction with the accompanying drawings. Hereinafter, specific embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference numerals in the drawings denote like elements.

The inventors have determined that a mechanism similar to the winging of a real hummingbird could be achieved with stationary flight. Accordingly, the present inventors analyzed the motion in which the maximum lift caused by the hummingbird's winging to implement the stationary flight, and configured the stationary flight mechanism and the power transmission mechanism based on this.

In order to facilitate understanding of the robot mechanism for implementing a stationary flight according to the present invention, flight principles or terms such as insects and hummingbirds (hereinafter referred to as "hummingbirds") will be described first. The flight principle of the hummingbird's wing behavior varies slightly depending on the number and size of the wings and its type. The smaller the size, the better the mobility. These tiny hummingbirds flap their wings as they fly, while rotating their wings as they move from top to bottom (downstroke) and from bottom to upstroke (upstroke). At low Reynolds numbers. Hummingbirds gain this necessary form of propulsion, lift, and direction by creating delayed stalls, rotational circulation, and wake capture.

Delayed stall ( Delayed Stall )

Delayed stalling occurs when hummingbirds fly. When hummingbirds do wings, they have a high angle of attack but slow stalling. In this case, since the wing rotates about an axis perpendicular to the body of the hummingbird, such as a rotor blade of the helicopter, an axial flow occurs along the axis of the wing in the direction of the wing from the body. This flow slows stalling, preventing vortices from delaminating at the leading edge of the wing. By delaying stalling in this way, even if the angle of attack increases, the lift can be greatly maintained.

Rotational circulation ( Rotational Circulation )

Rotational circulation is a phenomenon that occurs when a hummingbird rotates its wings while switching its wings from top to bottom and bottom to top. When the hummingbird rotates the wings, the leading edge of the wings moves in the opposite direction to the wing propagation direction, and the trailing edge moves in the same direction as the wing propagation direction. Therefore, the flow rate of the upper part of the wing is higher than the lower part, and lift is generated by the Magnus Effect.

Wake  capture( Wake Capture )

Wake capture occurs when the hummingbird changes direction immediately after the hummingbird rotates the wing. When hummingbirds wing in one direction, wakes occur in the space where the wings pass. As soon as the wing is rotated and the direction of the wing changes, the wake that occurred before transfers the force to the wing, increasing lift.

1 is a view schematically showing the wing cross section for explaining the operation of the hummingbird and the parameters of the hummingbird, FIG. 2 is a view schematically showing the wing cross section of the symmetrical operation during the operation of the hummingbird, 3 is a view schematically showing the wing cross section of the delay operation during the operation of the hummingbird, and FIG. 4 is a view schematically showing the wing cross section of the preceding operation during the operation of the hummingbird.

The parameters of the symbols shown in FIG. 1 include stroke amplitude (Φ), angle of attack (α), flip start (τ ₀ ), and flip duratuion (Δτ). This is the deviation from the stroke plane (plane deviation, θ), and the hummingbird can fly in various forms by adjusting these parameters.

When the wing motion consists of two degrees of freedom, the up and down motion and the rotational motion, the angle of attack can be defined as the angle formed by the stroke and the strike plane and the rotational motion can be defined as the pitching angle. . Variables that change the motion of the wing include angle of attack, flapping frequency per second, flap duration, and wing start time. The wing motions can be categorized according to the wing start time. Can be. As shown in Figs. 2 to 4, symmetrical motion is defined as a case in which the blade rotation start time is symmetric, such as rotating half of the rotation while the wing moves forward and rotating the other half while the wing moves backward. The delayed start timing of the blade rotation is delayed based on the symmetrical motion, and the quick motion is defined as the advanced motion.

5 is a perspective view of a hummingbird robot mechanism for implementing stationary flight according to an embodiment of the present invention. As shown in FIG. 5, the hummingbird robot mechanism 100 for implementing a stationary flight according to an embodiment of the present invention includes a frame unit 200, a power transmission unit 300, a wing operating unit 400, and It consists of a wing 500.

Figure 6 is a perspective view showing a frame portion of the hummingbird robot mechanism according to an embodiment of the present invention. As shown in FIG. 6, the frame part 200 has an approximately rectangular shape, and has an actuator holder 210 for installing a motor (not shown) as an actuator at a lower end thereof, and the frame part 200. On both sides of the longitudinal direction has a slide hole 220 to which a slide rod (see FIG. 7) to be described later is fitted.

The actuator is a component for providing power, and may be formed of any one of an electric motor, a pneumatic motor, and a hydraulic motor, but is not limited thereto.

As described above, the hummingbird robot mechanism 100 according to an embodiment of the present invention should have a high lift coefficient in order to implement a stationary flight. Thus, as a result of observing the hummingbird's movement, as shown in the following Table 1 (parameter values for the maximum lift operation), the parameters for taking the operation with the high average lift coefficient were found, The present invention has been constructed.

parameter Lift operation Wing width
Angle of attack
Wings start to rotate
Wing Rotation Duration
Deviation 180 °
45 °
Predecessor
10%
0

7 is a perspective view showing a crank-slider section 6 mechanism of the hummingbird robot mechanism according to an embodiment of the present invention. As illustrated in FIG. 7, the dual-rank crank-slider section 6 mechanism 300 as the power transmission unit transmits power generated by a motor as an actuator to the blade 500 and directly to the wing transmission unit 400. The wings will be configured to do wings. That is, the rotational force (rotational motion) generated by the motor is converted into a reciprocating motion sliding on the wing operating part (400).

On the other hand, the hummingbird's wing is two degrees of freedom consisting of two motions: the rotation and the pure wing. Therefore, the power transmission unit 300 of the hummingbird type robot mechanism according to an embodiment of the present invention is the wing 500 is rotated by the above-mentioned reciprocation and wing operation unit 400, and the two wings of pure wings In order to implement the operation, it should be configured with a phase difference so that the wing 500 can be operated with one actuator so as to have two input angles. Accordingly, the power transmission unit 300 is configured as a dual-crank slider 6 section mechanism. In other words, in order to achieve two degrees of freedom of rotation and pure winging in one degree of freedom in the mechanism according to the present invention, that is, to give two input angles (crank angles) to the blade 500 with one motor. A dual structure crank-slider section 6 mechanism 300 is employed as the power transmission unit, which is configured to give two different input angles (θ ₁ , θ ₂ ; see FIG. 9).

As illustrated in FIG. 7, the crank-slider six-section mechanism 300 includes a slider four-section mechanism 320, a dual structure crank 330, a coupler 340, and the like. The slider four-section mechanism 320 is connected to the crank 330, and the crank 330 is rotated by the rotational force transmitted from the motor to reciprocate along the slide rod 310 fitted in the slide hole 220 of the frame portion. . In other words, one side of the dual structure crank 330 is coupled to the slider four-section mechanism 320 and the other side is coupled to the motor to be generated in the actuator (motor) so that the slider four-section mechanism 320 can slide. Converted rotary motion into reciprocating motion.

In this case, as described above, the dual-rank crank 330 has two input angles (crank angles) to the blade 500 by using a single motor so that the blades can make a stationary flight by performing two operations of rotation and pure wing blades. It is preferable that the structure has a phase difference to give. As shown in Table 1, when the angle of attack is 45 °, the wing takes a high average lift coefficient. Therefore, it is preferable to configure the phase difference of the crank 330 at 22.5 ° such that the angle of attack at the blade 500 is 45 °.

In addition, the coupler 340 serves to engage the slider four-section mechanism 320 of the crank-slider six-section mechanism and the spherical five-section mechanism 400 that is the wing operation. In this case, the coupler 340 and the spherical five-section mechanism 400 of the crank-slider six-section mechanism is made of a joint coupling, a bushing which is a kind of bearing to reduce the friction of the two members, minimize the occurrence of jamming and reduce the tolerance 410 has been used, thereby increasing the lift of the wing as much as possible. In addition, the bushing 410 may be made of copper or any other material.

8 is a perspective view showing a spherical five section mechanism of the hummingbird robot mechanism according to an embodiment of the present invention.

As shown in FIG. 8, the spherical 5-section mechanism 400, which is the wing operation, is coupled to the crank-slide 6-section mechanism 300 (specifically, the coupler 340), which is the power transmission portion, and the crank-slider 6. In connection with the reciprocating motion of the cutting mechanism 300, the wing 500 coupled to the wing operation unit 400 is changed into a winged form of hummingbird which is two operations of rotation and pure winged. In other words, by using the spherical five-section mechanism 400, by adjusting the rotational motion and the pure wing motion of the two degrees of freedom constituting the wing, the effect of lift as described with reference to Figure 1 in the flight principle of the hummingbird Lifting force can be increased by adjusting the parameters of the wing width, angle of attack, wing rotation start, wing rotation duration, and deviation.

The hummingbird robot mechanism 100 configured as described above may be applied to an ultra-compact vehicle having a small size such as an insect. In addition, the ultra-compact vehicle may be used in an area (military reconnaissance, etc.) in which an ultra-compact vehicle is required by wirelessly controlling a motor that is an actuator using, for example, RFID communication.

FIG. 9 is a conceptual diagram illustrating a spherical 5-section mechanism of a hummingbird robot mechanism according to an embodiment of the present invention, and the spherical 5-section mechanism 400 will be described in detail with reference to FIG. 9.

As shown in Figure 8 and 9, the spherical five-section mechanism 400 is coupled to the coupler 340 of one side of the power transmission and the other side is coupled to the wing 500. As described above, by using the bushing 410 made of copper or any other material in the combination of the spherical 5-section mechanism 400 and the coupler 340 of the power transmission unit, the friction reduction and the accuracy of the shaft tolerance can be improved. Can be. The spherical five-section mechanism 400 determines the position of the blade through two input angles θ ₁ and θ ₂ , and the blade movement is rotated and pure at the relative position of the input angle Δθ = θ ₁ -θ ₂ . It is configured to achieve the two degrees of freedom of the wing, the value of Δθ is kept constant during rotation, and the sign of Δθ in the upstroke and downstroke of the pure wing can be configured to implement the pure wing do.

The angle of attack from the conceptual diagram of the spherical 5-section instrument 400 shown in FIG. 9 may be expressed as follows.

Referring to FIG. 9, if Z _{2 is a} direction vector of an axis coinciding with a blade rotation axis among joints connected to a blade, and Z ₃ is a direction vector of an axis of another joint connected to a blade, the following relational expression may be obtained. First, the following equations are obtained by the geometric positional relationship of each vector.

From the above equations, Z ₂ and Z ₃ can be expressed as

When the angle of attack is expressed as in FIG. 9, the angle of attack α is expressed as follows from the cosine law.

FIG. 10 is a diagram showing a trajectory of an operation obtained from the analysis of the conceptual diagram shown in FIG. 9. As shown in FIG. 10, it is understood that the hummingbird robot mechanism according to the present invention exhibits a trajectory similar to the actual flight mechanism of the hummingbird. Can be.

The operation and flight method of the hummingbird-type robot mechanism configured as described above includes a crank of a dual structure crank-slider section 6 mechanism having a rotational force generated by driving a motor as an actuator and having a phase difference of about 22.5 ° by the rotation of the motor. 330 is rotated, the slider four-section mechanism 320 coupled to the crank is sliding reciprocating according to the rotation of the crank, and the spherical five-section mechanism coupled thereto according to the reciprocating motion of the slider four-section mechanism 320. The blade 400 determines the position of the blade through the two input angles θ ₁ , θ ₂ given to the blade 500, and at the same time rotates and rotates to the relative position of the input angle Δθ = θ ₁ -θ ₂ . It is made to operate in two degrees of freedom of the wing, through the old five-section mechanism 400 that interlocks with the crank-slider six-section mechanism 300 of the dual structure, similar to the actual winging of the hummingbird, It may enable the free flight.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventions. Will be clear to those who have knowledge of.

100: robot mechanism 200: frame portion
300: dual structure crank-slider section 6 mechanism
320: slider 4 mechanism 330: crank
340: coupler 400: spherical five section mechanism
410: bushing 500: wing

Claims (12)

A frame unit having an actuator holder on one side;
An actuator installed in an actuator holder of the frame part;
A power transmission unit installed in the frame unit and converting a rotational motion generated by the actuator into a reciprocating motion;
A wing operating unit coupled to the power transmission unit for converting a reciprocating motion of the power transmission unit into a wing; And
Wing coupled to the wing operation
Hummingbird robot mechanism for implementing a stationary flight comprising a. The method of claim 1,
The actuator is made of any one of an electric motor, a pneumatic motor and a hydraulic motor
Hummingbird robot mechanism for stationary flight. The method of claim 1,
The power transmission portion is composed of a six-section crank-slider mechanism having a dual structure so as to act as a single actuator by giving a phase difference;
The crank slider 6 section mechanism is a slider 4 section mechanism reciprocating along the slide rod, one side is coupled to the slider 4 section mechanism and the other side is coupled to the actuator generated in the actuator so that the slider 4 section mechanism can slide A crank having a dual structure for converting the rotated motion into a reciprocating motion, and a coupler for coupling the power transmission part and the wing operation part;
Hummingbird robot mechanism for stationary flight. The method of claim 3,
The crank of the dual structure is a structure having a phase difference of 22.5 ° to give two input angles to one wing.
Hummingbird robot mechanism for stationary flight. The method of claim 1,
The wing operation portion is made of a spherical five-section mechanism interlocked with the power transmission portion;
By adjusting the two degrees of freedom rotational motion and pure winging motion using the spherical five-section mechanism, the width, angle of attack, the start of the wing rotation, the duration of the wing rotation, and the deviation of the wing motion affecting lift To increase lift by adjusting the parameters
Hummingbird robot mechanism for stationary flight. The method of claim 5,
The spherical five-section mechanism is coupled to the power transmission unit on one side and the other side to the blade, and determines the position of the blade through the two input angles (θ ₁ , θ ₂ ) and the relative position of the input angle (Δθ = θ ₁ -θ ₂ ) so that the movement of the blades makes the motion of two degrees of freedom of rotation and pure blades, the value of Δθ is kept constant during the rotation, and the sign of Δθ in the upstroke and downstroke of the pure blades Are configured to be the opposite of each other to implement a pure wing, and to reduce friction and to minimize the occurrence of jamming by using a bushing in the combination of the old five-section mechanism and the power transmission unit
Hummingbird robot mechanism for stationary flight. A frame unit having a motor that is an actuator;
A power transmission unit installed in the frame unit and converting a rotational motion generated by the actuator into a reciprocating motion through a crank-slider section 6 mechanism having a dual structure;
A wing operating unit linked with the power transmission unit for converting a reciprocating motion of the power transmission unit into a wing through a spherical 5 section mechanism;
A wing coupled to the wing operation unit; And
A control unit for wirelessly controlling the motor,
The dual structure crank slider 6 section is a structure having a phase difference to be operated by one actuator
Micro Aircraft. The method of claim 7, wherein
The crank-slider section 6 mechanism includes a slider section 4 mechanism for reciprocating along a slide rod, a dual structure crank for converting a rotational motion generated from the actuator into a reciprocation so that the slider section 4 slides, A coupler coupling the power transmission unit and the wing operation unit;
The crank of the dual structure is a structure having a phase difference of 22.5 ° to give two input angles to one wing.
Micro Aircraft. The method of claim 7, wherein
The spherical five-section instrument is coupled with the crank-slider six-section instrument;
By adjusting the two degrees of freedom rotational motion and pure winging motion using the spherical five-section mechanism, the width, angle of attack, the start of the wing rotation, the duration of the wing rotation, and the deviation of the wing motion affecting lift Adjust the degree of parameter to increase lift;
Using a bushing in the combination of the old five-section and crank-slider six-section instruments to reduce friction and minimize pinch
Micro Aircraft. The rotational movement generated by the actuator is converted into reciprocating motion through the dual structure crank-slide section 6 mechanism with phase difference, and the wing movement is carried out through the spherical five section mechanism linked with the dual structure crank-slide section 6 mechanism. To convert to a stationary or free flight
How to fly a hummingbird robot mechanism. The method of claim 10,
The crank-slider section 6 mechanism and the old section 5 mechanism of the dual structure is applied to a micro-vehicle, and interlocking to implement a wing wing to enable stationary flight or free flight
How to fly a hummingbird robot mechanism. The method of claim 10,
Bushing is used to combine the dual structure of the crank-slider 6 section and the old 5 section mechanism to increase the lifting force by minimizing friction reduction and pinching.
How to fly a hummingbird robot mechanism.

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