本研究群在拍翼式微飛行器MAV 之技術開發已逾9 年，開發之20 cm 翼 展“金探子”系列，技術已相當純熟，且能連續滯空超過8 分鐘。微飛行器機構 一直都是飛行器飛行主要核心之一，修改機構提供下一代新型MAV 拍翼式機 構設計參考。鳥類其飛行方式大都以滑翔及盤旋為主，拍翼行程角約達60~70 度；蜂鳥卻可以做到懸停飛行，其拍翼行程角為120 度。對飛行來說拍翼行程 角越大越能做到懸停，但以往四連桿機構微飛行器，皆存在著不可避免的相位 差，相位差是因兩個機構未能同步運轉所致，這會造成飛行不穩定。目前金探 子傳動機構拍翼行程角為53 度，雙翼相位差小於3 度。利用微飛行器機構為 原型進行改良，探討使用彈簧改善，並加大行程角和減少相位差。. Tamkang University MEMS group has already developed flapping wing ornithopters (MAVs) for over 9 years. The development of the 20cm-wingspan “Golden Snitch” has a flight endurance of more than 8 minutes. How to modify the flapping mechanism for the new generation of MAVs is always one of the most crucial issues. Most of the birds have their flight way mainly in gliding and loitering, and the flapping wing stroke angle is approximately 60 to 70 degrees. The hummingbirds can hover and the flapping stroke angle is 120 degrees. Bigger flapping stroke angle can do hovering better, but in the past four-bar linkage has the inevitable phase lag. The phase lag is due to the fail in mechanism symmetry and synchrony, which can cause unstable flight. The current transmission mechanism of “Golden Snitch” has the flapping wing stroke angle of 53 degrees, and the phase lag is less than 3 degrees. Improvements for the prototype of using the spring to increase the stroke angle and reduce the phase lag flapping mechanism have been demonstrated.