Abstract
The current flapping wing adopts T-shaped or cross-shaped tail fin to adjust its flight posture. However, how the tail fin will affect the hover control is not very clear. So, the effects of the two types of tail on flight will be analyzed and compared by actual flight tests in this paper. Firstly, we proposed a new X-wing single-bar biplane flapping-wing mechanism with two pairs of wings. Thereafter, the overall structure, gearbox structure, tail, frame, and control system of the flapping wing were designed and analyzed. Secondly, the control mechanism of hover is analyzed to describe the effect of two-tail fin on posture control. Thirdly, the Beetle was used as the control unit to achieve a controllable flight of flapping wing. The MPU6050 electronic gyroscope was used to monitor the drone’s posture in real time, and the Bluetooth BLE4.0 wireless communication module was used to receive remote control instructions. At last, to verify the flight effect, two actual flapping wings were fabricated and flight experiments were conducted. The experiments show that the cross-shaped tail fin has a better controllable performance than the T-shaped tail fin. The flapping wing has a high lift-to-mass ratio and good maneuverability. The designed control system can achieve the controllable flight of the flapping wing.
Highlights
Flying creatures of nature all use a flapping wing to fly. ey flap wings and change the angle and shape of their wing and tail fin, to create lift and propulsion, and change the direction of flight and flight mode
The flapping-wing drone that can successfully fly can be divided into forward flight and hover flight from the flight function and can be divided into two categories from the presence or absence of the tail: the tailless (Figure 2) and the tailed. e tailed flapping-wing drone can be divided into three types: horizontal tail fin (Figures 3(e), 3(g), 3(h), and 3(k)), T-shaped tail fin (Figures 3(a), 3(b), 3(f ), 3(i), 3(j), and 3(l)), and cross-shaped tail fin (Figures 3(c) and 3(d))
Body Dynamics. e positive directions of the coordinates are displayed in Figure 9. e x-axis is perpendicular to the flapping-wing surface and points forward, the y-axis is pointing to the left of the flapping-wing drone, and the z-axis is vertically upward. e dynamics of the ornithopter can be described, under rigid body assumption, by Newton–Euler motion equations
Summary
Flying creatures of nature all use a flapping wing to fly. ey flap wings and change the angle and shape of their wing and tail fin, to create lift and propulsion, and change the direction of flight and flight mode. Ey flap wings and change the angle and shape of their wing and tail fin, to create lift and propulsion, and change the direction of flight and flight mode By doing these, they can realize the rapid and flexible flight movements [1], such as flying, gliding, and hovering. E remaining sections of this article are organized as follows: in the second section, the structure of the X-wing flapping-wing drone is designed It can further enhance flight thrust through the synchronization of two pairs of wings beat-up and squeeze the air vortex flow. Conclusions of this article are presented in the sixth section
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