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    Title: 仿蜂鳥懸停機構之初探
    Other Titles: Preliminary study of hummingbird-like hover mechanisms
    Authors: 鄭杰明;Cheng, Chieh-Ming
    Contributors: 淡江大學機械與機電工程學系碩士班
    楊龍杰;Yang, Lung-Jieh
    Keywords: 拍翼式微飛行器;懸停;行程角;相位差;flapping micro air vehicle (FMAV);hover;stroke angle;Phase lag
    Date: 2013
    Issue Date: 2014-01-23 14:40:45 (UTC+8)
    Abstract: 本研究目的期盼製作仿蜂鳥懸停飛行之拍翼機構。其三個設計重點:1.大行程角。2.零相位差。3.高拍翼頻率。針對前兩個設計重點,作者以「史蒂芬生第三型六連桿」機構包含瓦特四連桿直線機構,創新擴展為一個10桿件、13接頭的拍翼機構,拍翼行程角可設計70°-150°之範圍,雙翼相位差近乎0°。使用放電線切割(EDWC)針對鋁合金材質進行加工製作。提升拍翼頻率之實驗方面,分為五種不同的齒輪比做比較,分別為齒輪比6.67、8.57、21.3、26.6以及27.4,經比較拍翼頻率及扭矩後,得知較佳者為齒輪比21.3的機構,最高拍翼頻率22Hz。推力表現較佳者為齒輪比26.6的機構,最高推力3.2g。
    進一步使用齒輪比26.6的機構進行不同機翼的試飛實驗,測試機翼分別為Nano Hummingbird機翼(翼面積31.84cm2,展弦比9.08)、尺度律機翼(翼面積43.79cm2,展弦比6.6)、「金探子」機翼(翼面積123.4cm2,展弦比3.78)。試飛結果顯示,「金探子」機翼產生的最大推力5.48g,並成功以66°的高攻角自由飛行57秒,且在3.7V驅動電壓下,最大拍翼行程角達100°以上,雙翼相位差控制在5°以下,拍翼頻率接近22Hz;成果皆符合拍翼飛行之三個設計方向,有利於未來仿蜂鳥懸停飛行工作之推展。
    The purpose of this research was to provide a FMAV with a hummingbird-like hovering function. The corresponding flapping mechanism should have three merits of large stroke angle, zero phase lag, and high flapping frequencies. Based on the Stephenson-III type 6-bar linkage mechanism, including the Watt''s 4-bar linkage linear mechanism, the author novelly proposed using this mechanism for hovering motion with 10 bars and 13 pin-joints. It provided the large stroke angle design up to 150° and without phase lag. The aluminum-alloy mechanisms are fabricated by electrical discharge wire cutting (EDWC) technique. Regarding the higher flapping frequency, 5 different gear reduction ratios (6.67, 8.57, 21.3, 26.6, 27.4) were investigated to have the better performance. The gear ratio 21.3 case generates the largest frequency of 22Hz and the driving torque. Meanwhile the gear ratio 26.6 case generates the largest thrust force of 3.2 gram fore.
    Furthermore the author selected 3 kinds of wing foils with the aspect ratios of 9.08 (Nano Hummingbird), 6.6 (scaling law), 3.78(Golden snitch) to perform the flight test by this new flapping mechanism (26.6 gear ratio).The flight test showed that the Golden Snitch wing case generates the largest thrust force of 5.48 gram fore. and successfully free flew with 66° high attack angle for 57 seconds. Under such a condition of 3.7V driving, the flapping stroke is observed above 100° and the phase lag between two wings is no more than 5°. The flapping frequency could be near to 22 Hz. In summary, the improved performance of the novel flapping mechanism in this thesis is believed to have substantial contribution to the development of hummingbird-like FMAVs.
    Appears in Collections:[機械與機電工程學系暨研究所] 學位論文

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