The invention relates to a two-degree-of-freedom steering mechanism of a miniature empennage-free ornithopter, comprising: a base on which a first steering engine and a second steering engine are mounted; the movable platform is arranged above the base, the first steering engine is connected with one side of the movable platform through a first driving branch chain, and the second steering engine is connected with the other side of the movable platform through a second driving branch chain. According to the two-degree-of-freedom steering mechanism of the miniature empennage-free ornithopter, through differential motion of the first steering engine and the second steering engine, two-degree-of-freedom motion of the movable platform is achieved. According to the two-degree-of-freedom steering mechanism of the miniature empennage-free ornithopter, a double-connecting-rod ball pin pair steering engine control system with high torsion resistance in the roll axis direction is achieved, the application range is expanded, and robustness is improved; and the control performance of the system in a strong interference environment is obviously improved.

    本发明涉及一种微型无尾翼扑翼机的两自由度转向机构,包括:基座,所述基座上安装有第一舵机和第二舵机;动平台,所述动平台设置在所述基座的上方,所述第一舵机通过第一驱动支链与所述动平台的一侧连接,所述第二舵机通过第二驱动支链与所述动平台的另一侧连接。所述的微型无尾翼扑翼机的两自由度转向机构通过第一舵机和第二舵机的差动运动,实现动平台在两自由度上运动。所述的微型无尾翼扑翼机的两自由度转向机构实现了具有在roll轴方向具有较强抗扭性的双连杆球销副舵机控制系统,扩展了应用范围和提高了鲁棒性;显著提高系统在强干扰环境下的控制性能。


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    Title :

    Two-degree-of-freedom steering mechanism of miniature empennage-free ornithopter


    Additional title:

    一种微型无尾翼扑翼机的两自由度转向机构


    Contributors:
    PAN ERZHEN (author) / WANG HAOYU (author) / HE GUIFENG (author) / LI DAIYING (author) / XU WENFU (author)

    Publication date :

    2024-07-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge



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