公开(公告)号：US20110278391A1

公开(公告)日：2011-11-17

申请号：US12781039

申请日：2010-05-17

Applicant: Andrey KOTLER

Inventor： Andrey KOTLER

IPC: B64C33/00

CPC classification number: B64C39/028 ,  B64C33/02 ,  B64C2201/025 ,  B64C2201/042 ,  B64C2201/088 ,  B64C2201/127

Abstract: A micro aerial vehicle apparatus capable of flying in different flight modes is disclosed. The apparatus includes a fuselage; at least one pair of blade-wings; and an actuator for actuating the blade-wings by flapping the blade-wings in dissonance or resonance frequencies.

Abstract translation: 公开了能够以不同飞行模式飞行的微型飞行器具。 该装置包括机身; 至少一对叶片翼; 以及致动器，用于通过以不相干或共振频率拍打叶片翼来致动叶片翼。

公开(公告)号：US20100308160A1

公开(公告)日：2010-12-09

申请号：US12795539

申请日：2010-06-07

Applicant: Matthew Todd Keennon ,  Karl Robert Klingebiel ,  Alexander Andryukov ,  Bart Dean Hibbs ,  John Peter Zwaan

Inventor： Matthew Todd Keennon ,  Karl Robert Klingebiel ,  Alexander Andryukov ,  Bart Dean Hibbs ,  John Peter Zwaan

IPC: B64C33/02 ,  B64C3/00

CPC classification number: B64C33/025 ,  B64C19/00 ,  B64C33/02 ,  B64C2201/025 ,  B64C2201/10 ,  B64C2201/146

Abstract: Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.

Abstract translation: 比空中飞行器，具有扑翼的飞机，例如鸟巢飞机，其中角度定向控制是通过在扫掠角度行程和/或控制可变翼膜张力的过程中可展开的翼的偏转的可变差分扫掠角来实现的 。

公开(公告)号：US20040056149A1

公开(公告)日：2004-03-25

申请号：US10387494

申请日：2003-03-14

Applicant: University of Maryland

Inventor： Darryll J. Pines ,  Felipe A. Bohorquez ,  Jayant Sirohi

IPC: B64C033/00

CPC classification number: B64C39/028 ,  B64C33/02 ,  B64C2201/025 ,  B64C2201/042

Abstract: A biomimetic pitching and flapping mechanism including a support member, at least two blade joints for holding blades and operatively connected to the support member. An outer shaft member is concentric with the support member, and an inner shaft member is concentric with the outer shaft member. The mechanism allows the blades of a small-scale rotor to be actuated in the flap and pitch degrees of freedom. The pitching and the flapping are completely independent from and uncoupled to each other. As such, the rotor can independently flap, or independently pitch, or flap and pitch simultaneously with different amplitudes and/or frequencies. The mechanism can also be used in a non-rotary wing configuration, such as an ornithopter, in which case the rotational degree of freedom would be suppressed.

Abstract translation: 包括支撑构件的仿生俯仰和拍动机构，用于保持叶片并且可操作地连接到支撑构件的至少两个叶片接头。 外轴构件与支撑构件同心，并且内轴构件与外轴构件同心。 该机构允许小型转子的叶片在翼片和俯仰自由度中被致动。 投球和扑动完全独立于彼此并且脱离。 因此，转子可以独立地以不同的幅度和/或频率折叠或独立地俯仰或折叠和俯仰。 该机构也可以以非旋转翼结构使用，例如鸟笼，在这种情况下旋转自由度将被抑制。

公开(公告)号：US6082671A

公开(公告)日：2000-07-04

申请号：US62114

申请日：1998-04-17

Applicant: Robert C. Michelson

Inventor： Robert C. Michelson

IPC: B64C39/02 ,  B64C33/02

CPC classification number: B64C39/028 ,  B64C2201/025 ,  B64C2201/042 ,  B64C2201/141

Abstract: The present invention is an apparatus and method for a multimodal electromechanical insect known as an entomopter. The entomopter is a species of micro air vehicle (MAV), which is defined as a flying vehicle having no dimension greater than 15 cm. The entomopter mimics the flight characteristics of an insect by flapping wings to generate lift. The entomopter's wings are powered by a reciprocating power source. The same power source may be used to power legs to enable the entomopter to crawl along the ground. In a preferred embodiment, the power source is a compact noncombustive engine known as a reciprocating chemical muscle (RCM).

Abstract translation: 本发明是一种被称为ent器的多模式机电昆虫的装置和方法。 昆虫是一种微型飞行器（MAV），它被定义为没有尺寸大于15厘米的飞行器。 昆虫通过拍翅来产生升力模拟昆虫的飞行特征。 ent子的翅膀由往复动力源供电。 可以使用相同的电源来驱动腿部，以使得ent子沿着地面爬行。 在优选实施例中，电源是称为往复式化学肌肉（RCM）的紧凑型非燃烧发动机。

公开(公告)号：US20240035922A1

公开(公告)日：2024-02-01

申请号：US17981424

申请日：2022-11-06

Applicant: NMICPS - Technololgy Innovation Hub on Autonomous Navigation Foundation (TiHAN) ,  Indian Institute of Technology (IIT) Hyderabad

Inventor： Rajalakshmi PACHAMUTHU ,  Naga Praveen Babu MANNAM ,  Prasanth Kumar DUBA

IPC: G01M9/06 ,  B64C33/02 ,  B64C39/02 ,  B64D27/24 ,  B64D9/00 ,  H04N5/272

CPC classification number: G01M9/06 ,  B64C33/02 ,  B64C39/024 ,  B64D27/24 ,  B64D9/00 ,  H04N5/272 ,  B64C2201/025 ,  B64C2201/127 ,  B64C2201/128 ,  B64C2201/042

Abstract: A system (100) for determination of flight performance of the bioinspired flapping-wing aerial vehicle (101) in simulated space conditions discloses the aerial vehicle (101) installed in a thermo-vacuum chamber (103) that maintains vacuum and temperature for aerial vehicle (101) to simulate climatic conditions in space, where the aerial vehicle (101) is evaluated by the force transducer (104) and data acquisition system (105) acquires the data from force transducer (104). The flapping motion of the wing (101b) of the aerial vehicle (101) in space conditions increases the velocity of aerial vehicle (101), where dynamic wing twisting maintains the wing (101b) at a specific angle of attack to generate lift force and wing deformation occurs during which the passive pitch angle produces high lift forces, facilitating stable flight in simulated space conditions.

公开(公告)号：US20170291703A1

公开(公告)日：2017-10-12

申请号：US15581976

申请日：2017-04-28

Applicant: AeroVironment, Inc.

Inventor： Matthew Todd Keennon ,  Alexander Andryukov ,  Karl Robert Klingebiel ,  Henry Thome Won

IPC: B64C33/02 ,  B64C39/00 ,  B64C39/02

CPC classification number: B64C39/003 ,  B64C33/02 ,  B64C39/028 ,  B64C2201/025 ,  B64C2201/042

Abstract: A flapping wing driving apparatus includes at least one crank gear capstan rotatably coupled to a crank gear, the at least one crank gear capstan disposed radially offset from a center of rotation of the crank gear; a first wing capstan coupled to a first wing, the first wing capstan having a first variable-radius drive pulley portion; and a first drive linking member configured to drive the first wing capstan, the first drive linking member windably coupled between the first variable-radius drive pulley portion and one of the at least one crank gear capstan; wherein the first wing capstan is configured to non-constantly, angularly rotate responsive to a constant angular rotation of the crank gear.

公开(公告)号：US20160159477A1

公开(公告)日：2016-06-09

申请号：US14707877

申请日：2015-05-08

Applicant: PURDUE RESEARCH FOUNDATION

Inventor： Xinyan Deng ,  Jian Zhang

IPC: B64C33/02

CPC classification number: B64C33/02 ,  B64C2201/025

Abstract: Presented herein are an actuation system and a flapping wing micro aerial vehicle system. In one embodiment, for energy efficiency and to achieve a resonant system, the flapping wing is directly driven using conventional DC motors coupled with torsion springs. Using a transmission gear, the motor is designed to operating at an efficient speed, but generates an overall reciprocal motion to the wing. Closed loop control is applied to achieve tracking of the desired wing motion kinematics, the frequency of which is tuned to match the resonant frequency of the system. We also show that wing kinematic control can be achieved by tracking trajectories with different amplitude and bias, therefore creating flight control forces and torques.

Abstract translation: 这里提出的是致动系统和扑翼机微型飞行器系统。 在一个实施例中，为了能量效率并实现谐振系统，使用与扭转弹簧耦合的常规DC电动机直接驱动扑翼。 使用传动齿轮，电机被设计成以有效的速度运行，但是产生对机翼的整体往复运动。 应用闭环控制来实现期望的机翼运动运动学的跟踪，其频率被调谐以匹配系统的谐振频率。 我们还显示，可以通过跟踪具有不同幅度和偏差的轨迹来实现机翼运动控制，从而产生飞行控制力和转矩。

公开(公告)号：US20140263826A1

公开(公告)日：2014-09-18

申请号：US14216381

申请日：2014-03-17

Applicant: Francois MATTE

Inventor： Francois MATTE

IPC: B64C33/02

CPC classification number: B64C33/02 ,  A63H27/008 ,  B64C2201/025

Abstract: The wing flapping mechanism (100) includes a main frame (110), a pair of opposite wings (120) laterally projecting from the main frame (110), and a linkage arrangement to convert rotation of a motor (150) into a three-dimensional cyclic wing motion of each of the wings (120). The linkage arrangement includes torque-transmitting couplings extending from inside the main frame (110) into the wing structures (122) to transmit an alternating pivoting motion, created as a result of the rotation of the motor (150), to the distal end of a corresponding third torsion-responsive tube (140, 144′″). Each torque-transmitting coupling extends inside a shoulder joint (130), a first torsion-responsive tube (132, 144′), an elbow joint (134), a second torsion-responsive tube (136, 144″), a wrist joint (138) and the third torsion-responsive tube (140, 144′″) of the corresponding wing structure (122).

Abstract translation: 机翼拍动机构（100）包括主框架（110），从主框架（110）侧向突出的一对相对的翼片（120），以及将马达（150）的旋转转换成三维 每个翼（120）的三维循环翼运动。 联动装置包括从主框架（110）内部延伸到机翼结构（122）中的扭矩传递联接件，以将由马达（150）的旋转产生的交替的枢转运动传递到电动机（150）的远端 相应的第三扭转响应管（140,144'“）。 每个扭矩传递联接件在肩关节（130），第一扭转响应管（132,144'），肘关节（134），第二扭转响应管（136,144“），腕关节 （138）和相应翼结构（122）的第三扭转响应管（140,144'“）。

公开(公告)号：US08700233B1

公开(公告)日：2014-04-15

申请号：US12883317

申请日：2010-09-16

Applicant: David B. Doman ,  Michael W. Oppenheimer

Inventor： David B. Doman ,  Michael W. Oppenheimer

IPC: B64C33/00

CPC classification number: B64C33/02 ,  B64C39/028 ,  B64C2201/025 ,  B64C2201/042

Abstract: A method of controlling wing position and velocity for a flapping wing air vehicle provides six-degrees-of-freedom movement for the aircraft through a split-cycle constant-period frequency modulation with wing bias method that generates time-varying upstroke and downstroke wing position commands for wing planforms to produce nonharmonic wing flapping trajectories that generate non-zero, cycle averaged wing drag and alter the location of the cycle-averaged center of pressure of the wings relative to the center of gravity of the aircraft to cause horizontal translation forces, rolling moments and pitching moments of the aircraft.

Abstract translation: 一种控制翼状空中飞行器的机翼位置和速度的方法为飞行器提供六自由度的运动，通过采用翼偏置法的分段式周期恒定频率调制方式，可以产生时变上升和下行翼位置 机翼平面图的命令产生非谐波翼扑动轨迹，其生成非零的循环平均翼阻力并改变相对于飞行器的重心的循环平均中心压力的位置以引起水平平移力， 飞机的滚动时刻和投球时刻。

公开(公告)号：US20130068894A1

公开(公告)日：2013-03-21

申请号：US13640976

申请日：2011-04-14

Applicant: Robert Jan Musters

Inventor： Robert Jan Musters

IPC: B64C3/38 ,  B64C33/02 ,  F01D5/12 ,  B64C3/10

CPC classification number: B64C3/38 ,  A63H27/008 ,  B64C3/10 ,  B64C23/00 ,  B64C33/02 ,  B64C2201/025 ,  F01D5/12

Abstract: The invention relates to a wing for generating lift and comprises a trailing edge, a leading edge, an inner end, an outer end, a top surface and a bottom surface. The wing comprises an aerofoil with a chord line and a span direction. The leading edge comprises a kink between the inner end and the outer end. The leading edge comprises a forward sweep part between the inner end and the kink extending towards the kink presenting an angle relative to the span direction. The leading edge comprises a backward sweep part between the kink and the outer end extending from the kink presenting an angle relative to the span direction. The top surface comprises a flow control means for controlling the lift at least partly located between a leading edge part between the kink and the outer end and located between the leading edge and the trailing edge.

Abstract translation: 本发明涉及一种用于产生升降机的机翼，包括后缘，前缘，内端，外端，顶表面和底面。 机翼包括具有弦线和跨度方向的机翼。 前缘包括在内端和外端之间的扭结。 前缘包括在内端和扭结之间的向前扫掠部分，其朝向扭结延伸，呈现出相对于跨度方向的角度。 前缘包括在扭结之间的反向扫掠部分和从扭结延伸的外端部，其相对于跨度方向呈现一个角度。 顶表面包括用于控制至少部分地位于扭结和外端之间的前缘部分之间且位于前缘和后缘之间的升力的流量控制装置。