本論文主要在分析拍翼式微型飛行器(MAVs)之動力學。淡江大學微機電實驗室已開發微飛行器多年。我們以該架飛行器為基礎，用以導出拍翼式微飛行器的動力學模型，並與實飛的飛行數據做比較。雖然目前已有很多文獻探討過類似的議題，但在此篇論文中，我們利用實際的飛行數據來印證我們所推導的動力學模型以及假設之正確性。此外，我們也透過數學推導，來證明空氣動力學領域中的“Advance Ratio”，可以直接應用於飛行動力學的推導。並且透過此轉換關係，可以將定翼機的分析方法，套用至拍翼機的分析。最後本文使用Matlab開發了圖形化介面的工具，歸納了我們的動力學模型，擬應用於未來拍翼式微型飛行器之飛行模擬。 The dynamics of flapping wing micro aerial vehicles (MAVs) is studied in this thesis. The MEMS Laboratory in Tamkang University has been developing flapping wing MAVs for several years. Based on the developed flapping-wing MAVs we study its dynamics and compare our results with flight test data. Although several papers have discussed similar topics previously, using our flight test data we demonstrate the validity of the assumptions and derivations. We also propose a claim that links the average aerodynamical forces to the wind tunnel test data, so that a flapping MAV can be analyzed with the same methodology as what we have done to a fixed-wing aircraft. Flight test data and numerical simulations are also provided to demonstrate the validity of our derivation. Finally, we create a graphic user interface with Matlab as the 1st step to the flight animation of a flapping-MAV.