為設計一種多功能之拍翼微飛行器，本研究開發質輕與節能之新穎拍翼機構。作為整體拍翼微飛行器之最重要部分，本研究拍翼機構以四連桿機構為基礎架構進行改良與設計，並搭配整合伊氏直線機構，使兩翼相位差趨近於零，最大拍翼行程角接近120°，以產生足夠的空氣動力進行前飛巡航與垂直起降。本研究之拍翼機構經過三代的改良設計，使用放電線切割加工製作原型，最終成功開發模具進行塑膠射出成型，該聚甲醛(POM)機構質量僅1.78g。本研究透過高速攝影機拍攝機構運轉可得出其拍翼頻率，搭配20cm翼展輸出之拍翼頻率高達18.86Hz；並使用六軸力規搭配風洞量測該機構產生之升推力，在攻角70°姿態飛行時可產生升力13.4gf，大於拍翼微飛行器總質量9.7g；至於室外飛行測試，則成功在24秒內飛至高度20公尺。 In the body of research relevant to versatile flapping micro-air-vehicles (MAV), design and development of light-weight and energy-efficient flapping mechanisms occupies a position of primacy due to its immense impact on the flight performance and mission capability. Realization of a compact flapping mechanism that can produce adequate aerodynamic force for fulfilling the requirements of cruising forward flight and vertical take-off and landing (VTOL) needs the combination of the four-bar-linkage (FBL) and Evan''s straight line mechanism. This paper presents the concerted approach adopted for developing the flapping wing mechanisms for 20 cm span flapping MAVs through an iterative approach involving three design iterations on mechanisms and multiple fabrications approaches such as electrical-discharge-wire-cutting (EDWC) and plastics injection molding. The minimum mass of the polyoxymethylene (POM) mechanism is only 1.78 gram and the maximum flapping frequency is 18.86 Hz. Performance characteristics for each mechanism are evaluated through high speed photography, power take-off measurement, wind tunnel testing and test flights. The maximum lift is 13.4 gram force under the angle of attack of 70° and is beyond the total mass 9.7 gram of the MAV. The resultant flapping mechanism with almost non-existent phase lag between the wings and the extra large flapping stroke up to 120 like birds push this 20 cm-span flapping MAV up to 20 m high in 24 sec.
