Drive mechanism of flapping-wing micro rotorcraft: design and dynamics modeling

In this paper, a structural design method of flapping and rotor wing is proposed in order to solve the problems of complex structure, low lift in proportion to its own weight and low flight performance caused by additional devices used for balancing torque, such as tail beams and tail rotors, which are required in traditional rotorcrafts. The flapping-wing micro-miniature rotorcraft was designed by using the proposed method. Drive mechanisms of electromagnet were adopted to change current direction in electromagnet coils regularly, so as to generate alternating electromagnetic force to drive flapping wings flutter. Meanwhile, the property of this kind of flapping-wing structure was analyzed and its structural model was built. The dynamics model of the drive mechanism were also built and analyzed on the basis of Lagrange's equations. The simulation results indicate that the resonance phenomenon of wings would occur if the alternating electromagnetic force works with a certain frequency, and hence the flutter angle would increase under the same acting force.