The invention discloses a double piezoelectric actuators type micro flapping wing aircraft based on soft hinges. The double piezoelectric actuators type micro flapping wing aircraft comprises two bent beam type twin-lamella piezoelectric actuators, two transmission mechanisms in central symmetry distribution, an outer frame surrounding the periphery of the aircraft, and two wing structures containing driven torsion hinges. The bent beam type twin-lamella piezoelectric actuators are bent under the excitation of voltage, the wings are driven to move by the transmission mechanisms, so that a force needed by the motion of the aircraft is generated. By adopting the structure and using the laser micro-cutting technology and soft hinge connection style, the processing and manufacturing of the micro flapping wing aircraft with wingspan of 3 centimeters are achieved. The mechanism is simple and compact in structure; two actuators are respectively used for controlling the two wings so that the aircraft can achieve other motions besides hovering and straight-line flight.

Double piezoelectric actuators type micro flapping wing aircraft based on soft hinges

The invention provides an insect-scale flapping-wing micro aerial vehicle actuated by piezoelectricity. The insect-scale flapping-wing micro aerial vehicle comprises a piezoelectric actuator, an aerial vehicle body, a transmission mechanism, two wings, two driven twisting hinges and auxiliary structures, wherein the aerial vehicle body and the transmission mechanism are integrally formed; the piezoelectric actuator generates cyclical reciprocating vibration under the situation of electrifying; the transmission mechanism is used for amplifying the micro vibration of the piezoelectric actuator and converting the amplified vibration into the flapping motion of the two wings; and each of the root parts of the two wings is connected with the corresponding driven twisting hinge, under the effect of aerodynamic force and inertial force, the two wings are twisted, so that lifting force required by flying is generated. According to the insect-scale flapping-wing micro aerial vehicle actuated by piezoelectricity disclosed by the invention, the size and the weight of the micro aerial vehicle are in an insect scale; the transmission mechanism with amplified flexible hinges is designed between the piezoelectric actuator and the wings, and is matched with the piezoelectric actuator, so that high-frequency wide-range reciprocating flapping motion of the wings can be realized; and the transmission mechanism and the aerial vehicle body are integrally designed, so that assembly of the transmission mechanism and the aerial vehicle body is avoided, and the assembling accuracy is greatly improved.

Insect-scale flapping-wing micro aerial vehicle actuated by piezoelectricity

The invention discloses a flapping-wing micro air vehicle based on fan driving. The flapping-wing micro air vehicle is characterized in that a fan driver is combined with hinged connecting rod mechanisms, is arranged in the hinged connecting rod mechanisms and is fixedly connected with the inner-side end surfaces of the hinged connecting rod mechanisms; the hinged connecting rod mechanisms at two sides are symmetrically arranged; a driving connecting rod is fixed on the free end of the fan driver, and a pushing rod is connected with the driving connecting rod; one end of a control rod is connected with the pushing rod, the other end of the control rod is fixedly connected with the front edges of wings, and the control rod is connected with the hinged connecting rod mechanisms at the side surfaces of the fan driver; a torsion control rod is connected with the hinged connecting rod mechanisms at the side surfaces of the fan driver; one end of the torsion control rod is in contact with a wear-resistant cushion block stuck at the end part of the pushing rod, and the other end of the torsion control rod is connected with the rear edges of the wings; and the up-down vibration of the fan driving mechanism is transferred and amplified under a loading alternating voltage, and the wings are driven by the action of flexible hinges to realize up-down flapping and torsion. The flapping-wing micro air vehicle disclosed by the invention has the advantages that the structure is simple, the processing is convenient and the driving control is simple.

Flapping-wing micro air vehicle based on fan driving

The present invention relates to a scheme for improving efficiency of a flapping-wing aircraft, which acquires progressing force through swing in a fluid medium (air or water). In the field, bionic flapping wing aircraft is provided, but fails to catch the essence of energy efficiency of swing flying of insects, fish and birds. Therefore, the energy utilization efficiency of the flapping-wing aircraft in the prior art is not higher than that of fixed wing airplane. In order to greatly improve the energy efficiency of high flapping-wing aircrafts, the invention provides a scheme for high efficiency wing-flapping aircraft. The flapping-wing aircraft provided by the invention is characterized in that wing roots are connected to other parts of the aircraft by springs, so that the flapping wings have an intrinsic flutter frequency, and the system only needs to supplement energy dissipated by the flapping wings for power consumption in each flutter cycle to maintain flutter of wings. Thus, the scheme greatly reduces energy consumption and improves the energy efficiency of flapping-wing navigation. According to the invention, by means of flapping-wing aircraft, human being can realize high efficiency navigation like insects and birds.

Scheme for improving efficiency of flapping-wing aircraft

The invention provides a speed control method of a frog board robot. The method comprises that the forward speed when the frog board robot walks on the ground is kept stable by utilizing a fuzzy PID algorithm, and the speed of the robot on the road of relatively large gradient in the free descending sliding process is kept stable by controlling a brake. The problem that the speed of the frog board robot is hard to control due to nonlinearity, hysteresis quality and time variation is solved by utilizing the fuzzy PID algorithm and the break which can realize smooth speed control for the frog board robot, the robot is prevented from jittering and insufficient power in the forward process, and the robot is avoided from danger caused by too high speed in the descending process.

Speed control method of frog board robot

The invention discloses a piezoelectric ceramic flapping-wing-type robot. The piezoelectric ceramic flapping-wing-type robot comprises a robot body support frame, robot wings, a piezoelectric driver, a driving electric cable, a transmission amplifying mechanism and driving feet, wherein the robot wings are based on a bionic design and are similar to a dipster hoverfly in shape; when the robot walks on land, a piezoelectric ceramic sheet is selected as the piezoelectric driver, and the piezoelectric ceramic sheet and a single-bent-end transmission amplifying mechanism form the driving feet; the driving electric cable inputs two common grounding sine wave signals for respectively driving the two driving feet, and the robot is driven to do controllable plane motion by utilizing a resonant oscillation principle. When the robot flies in the sky, the driving feet are taken down; a piezoelectric ceramic bimorph element is used as the piezoelectric driver to input a driving voltage signal; by a four-connecting-rod transmission mechanism, the oscillation is amplified and is converted into flapping of wings, thereby driving the robot body to fly. The robot is simple, light and convenient, and has certain adaptability to the environment.

Piezoelectric ceramic flapping-wing-type robot

The invention provides a swinging arm driving-type motion control method for an amphibious frog board robot The method comprises specific steps: a leg and arm position theta a of the robot and the speed Vc of the robot are measured; the mass center of the robot in the advancing direction has the accelerated speed ac=K*(Vaim-Vc), wherein Vaim is the aimed speed and K is a preset parameter; theta a, Vc and ac are used to calculate motor control quantity omega according to a built advancing motion control model for the robot on land or in water; and according to the motor control quantity omega, the motor is controlled to drive the robot to advance on land or in water A unified controller can be used for realizing longitudinal speed control on the robot in the land-water environment, complexity of the amphibious robot control algorithm is greatly simplified, and loss of time and energy of the amphibious robot caused by environment detection, execution mechanism switching and control algorithm switching can be avoided

Swinging arm driving-type motion control method for amphibious frog board robot

The invention provides a double-swinging-arm movement mechanism of an amphibious frog plate robot. The double-swinging-arm movement mechanism comprises a DC motor, a bevel gear, a rotating shaft, a crank disk, a disk groove, a steering engine, a steering engine connecting rod, a vertical connecting rod, a long connecting rod, two short connecting rods, a sliding block, a sliding rail and two leg arms. Double-swinging-arm movement can be achieved through the mechanism; due to the fact that a crank-link mechanism is adopted, the leg arms swing symmetrically; the double-swinging-arm movement mechanism has the advantages of being low in power consumption, high in reliability and capable of achieving adjusting of swinging amplitudes and swinging speeds.

Zhang Jianqing

Papers

Piezoelectric ceramic flapping-wing-type robot

Speed control method of frog board robot

Swinging arm driving-type motion control method for amphibious frog board robot

Double-swinging-arm movement mechanism of amphibious frog plate robot