本文主要在探討拍翼式微型飛行器(MAVs)之動力學分析。此微型飛行器已由淡江大學微機電實驗室開發多年。藉由我們推導出的動力學模型，我們將與實飛的飛行數據做比較。雖然已有很多文獻討論過類似的議題，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。月時我們利用風洞測試的數據，求其平均之氣動力特性，因此我們可以利用分析定翼機的方法來討論拍翼式飛行器。藉由飛行數據與數值模擬的比較，證明了我們的動力學模型是正確的。 The dynamics of flapping wing micro aerial vehicles (MAVs) is studied in this paper. The MEMS Laboratory in Tamkang University has been developing flapping wing MAVs for several years. Based on the developed flapping wing MAV 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 some assumptions and our derivations. We also propose a claim that links the time-average aerodynamical forces to the wind tunnel test database, so that a flapping MAV can be analyzed in 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 results.