本研究研製拍翼機專用之音圈馬達來取代舊式傳統馬達與減速齒輪組，希望藉由使用新的驅動方式減少機械磨耗。本研究改變了機構驅動器與翅膀的連動方式，設計出可以使用音圈馬達的機構，使用放電線切割以及3D印表機加工製作原型，並且搭配舊有的伊氏直線機構的桿件。 本研究也利用Arduino晶片組設定傳送正負電流，來運作整體線性拍翼機構。在電池3.7V的驅動下，delay(毫秒)設定為30毫秒下，拍翼頻率可達16Hz，裝11.5 cm翼展拍翼行程角達到40° - 45°，而安裝16.5 cm以及21.5 cm 翼展時，拍翼角度減到16 °以及8°。 配合使用本研究團隊已開發的M1AP輕量化Arduino晶片，可以讓拍翼機總質量壓到10g以內，而不妨礙飛行。但馬達耗用功率分析顯示，音圈馬達內磁鐵與內壁摩擦耗損嚴重。盼望未來機構改善後，預期同時達到80°以上拍翼行程角，與13Hz以上拍翼頻率的設計目標。 The objective of this research is to fabricate a voice coil motor which dedicated to flapping micro-air-vehicles (MAV) to replace the old traditional motor and reduction gear set. The goal of this research is hoping to reduce mechanical power dissipation by using the new driving mechanism. In order to design a mechanism which is suitable for voice coil motor, this study altered the driving mechanism and the interlocking device of wing. The method of making a prototype is using electrical discharge wire cutting and 3D printing. As well as the past experiment, it also collocates with the lever of Evans straight line mechanism. In addition, to operate the new flapping mechanism, this research takes advantage of Arduino board to provide positive and negative currents. With the voltage of 3.7V , when delay (ms) is set to 30 milliseconds or less, the flight frequency will be up to 16Hz . Here are two results about the new flapping mechanism. First, with wingspan of 11.5cm, the stroke angle reaches 40°to 45°. Second, with wingspan of 16.5cm and 21.5cm, the stroke angle reduced to 16° and 8°, respectively. With the lightweight M1AP Arduino board developed by Tamkang University the total mass of flapping MAV with the new mechanism will be less than 10 grams. However, the analysis of power consumption shows the friction between the magnet and the inner wall of voice coil motor is serious. After improving the mechanism, the final aim is hoped to achieve the stroke angle over 80° and the flapping frequency up to 13Hz simultaneously.
