The invention discloses a bionic flapping wing micro aircraft with an adjustable flapping angle average position and a flight control method of the bionic flapping wing micro aircraft. The device comprises a base, a power device, a transmission mechanism, a control mechanism and flapping wings. The power device, the transmission mechanism and the control mechanism are fixed to the base, and vibration of the base is reduced through a reinforcing beam. The transmission mechanism comprises a gear reduction set and a connecting rod mechanism, the connecting rod is connected with the gear, the leftrocker arm and the right rocker arm to form a slider-crank mechanism, a sliding groove is formed between the left rocker arm and the right rocker arm and connected with a base sliding groove and a linear stepping steering engine output arm through rivets, and reciprocating flapping can be achieved around the connecting rivets. The control mechanism drives the connecting rivet through the output arm to achieve adjustment of the average position of the flapping angle. By means of the simple connecting rod set, bionic flapping motion is achieved, the complexity of the mechanism is reduced, and machining is facilitated; meanwhile, by adjusting the average position of the flapping angle, the generation of the control moment is decoupled from the lift force of the aircraft, and maneuvering suchas pitching and circling can be realized.

    本发明公开了一种拍动角平均位置可调的仿生拍动翼微型飞行器及其飞行控制方法。该装置包含底座、动力装置、传动机构、控制机构及拍动翼。所述底座上固定有动力装置、传动机构给和控制机构,并通过加强梁减小底座震动;所述传动机构包括齿轮减速组和连杆机构,连杆连接齿轮与左、右摇臂形成曲柄滑块机构,左、右摇臂中间开有滑槽,与底座滑槽和线性步进舵机输出臂通过铆钉连接,可绕上述连接铆钉实现往复拍动。所述控制机构通过输出臂带动上述连接铆钉实现拍动角平均位置的调节。本发明通过简易连杆组,实现了仿生拍动运动,降低了机构的复杂程度,便于加工;同时通过对拍动角平均位置的调节,将控制力矩的产生与飞行器升力解耦,能够实现俯仰、盘旋等机动。


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    Title :

    Bionic flapping wing micro aircraft with adjustable flapping angle average position and flight control method of bionic flapping wing micro aircraft


    Additional title:

    一种拍动角平均位置可调的仿生拍动翼微型飞行器及其飞行控制方法


    Contributors:
    WU JIANGHAO (author) / CHENG CHENG (author)

    Publication date :

    2020-12-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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