Research On Structural Design And Fabrication Technology Of Flapping Wing Micro Air Vehicle

The unique flight mechanism of flapping wing aircraft has attracted significant attention in the field of small space flight,particularly for micro flapping wing aircraft that are able to operate flexibly in narrow crevices where humans cannot reach.These aircraft can conduct environmental detection and other work in unknown areas.In this project,a micro dual flapping wing aircraft driven by an electromagnetic actuator composed of a coil and neodymium iron boron magnets is proposed.The structure and working principle of the micro double flapping wing aircraft are introduced,along with the integrated processing and manufacturing process of the electromagnetic micro double flapping wing aircraft,including material selection,component manufacturing methods,and component assembly methods.The kinematics of the wings and the prototype airframe of the electromagnetic micro double flapping wing aircraft were tested.A new flexible linkage transmission mechanism based on the electromagnetic micro double flapping wing aircraft is proposed,which has a simple structure and higher efficiency.It is designed to be driven by two double crystal piezoelectric cantilever beams and is used to drive the micro four flapping wing aircraft.The structure and working principle of the micro four flapping wing aircraft are introduced,along with the integrated processing and manufacturing process of the piezoelectric micro four flapping wing aircraft.The entire machine uses high-strength and low-density carbon fiber composite materials to make rigid components to reduce its own mass.It uses a flexible four bar mechanism and a new flexible link transmission mechanism to replace traditional rotary transmission,avoiding rolling friction and further improving energy efficiency.The electromagnetic micro double flapping wing aircraft produced has a wingspan of 9.5cm and a total mass of 1.31 g,while the piezoelectric micro four flapping wing aircraft has a wingspan of 7.8cm and a total mass of 2.58 g.Finally,tests were conducted on the electromagnetic micro double flapping wing aircraft and piezoelectric micro four flapping wing aircraft.The kinematics of the wings and the whole machine of the electromagnetic micro double flapping wing aircraft were tested using shooting equipment.The test results showed that the wing swing angle of the electromagnetic micro double flapping wing aircraft was the largest under the driving current of 3A,10 Hz,and the two wings were very close to each other,with good symmetry.At the same time,the electromagnetic micro double flapping wing aircraft was able to briefly fly up under the driving current of 3A,10 Hz,and then fall back again.The lift force under different air damping was calculated based on the second-order derivative of its overall displacement.In the testing of piezoelectric micro four flapping wing aircraft,the flexible transmission mechanism was first tested and simplified through Solid Works to establish a flexible transmission mechanism model.The input and output characteristics of the flexible transmission mechanism were tested,and the test results showed that the flexible transmission mechanism had a width of 0.2mm and a thickness of 10μ on the flexible hinge,with the smaller the side length of the cube as a rigid part being,the smaller the input displacement required to output the same size of swing angle.Then,the whole piezoelectric micro four flapping wing aircraft was fixed,and the kinematics of the four wings of the piezoelectric micro four flapping wing aircraft was tested with a high-speed camera.The test results showed that the first-order characteristic rate of the prototype was 110 V,and the maximum swing angle of the four wings was 40 degrees at 30 Hz.