應用合拍機制於微飛行器之研製

Application of the Clap and Fling Mechanism to the Development of Flapping MAVs

房柏廷(Bo-Ting Fang)

指導教授 ： 楊龍杰

淡江大學/工學院/機械與機電工程學系碩士班/碩士(2009年)

https://doi.org/10.6846/TKU.2009.00835

摘要

本研究參考昆蟲發生的合拍現象，以本實驗室拍翼式微飛行器(MAV)-金探子為研究主體，設計新式機構及改變不同拍撲角度，製作出具有相似於合拍機制之微飛行器。並利用風洞實驗量測出合拍機構飛行器之氣動力特性，並討論各機制之推進效率，逐一比較優缺點及改進之方向。
在此合拍機制飛行器主要的探討方向為：合拍的有無（金探子和CF-50）、機構差異性(CF-50和CF-51)、拍撲角度(CF-51和CF-72)。首先，利用高速攝影機，藉由慢速動作觀察拍翼的變化情形。在經由實驗結果分析各飛行器之氣動力數據。風洞實驗結果發現在傾角0°至60°範圍中，傾角40°可產生最大升力，金探子最大升力為9.8克，CF-50為9.6克，CF-51為8.1克，CF-72為5.5克，而CF-50有最快飛行速度，約2.75 m/s，但消耗功率較高；機構方面，單點拍動機構較優於雙點拍動機構；拍撲角度方面，角度72°之氣動力特性則明顯低於50°，甚至無法達到機身重量。推進效率方面，金探子在各傾角下有較高的推進效率，CF-50的推進效率不高但其升力可媲美金探子，其CF-51和CF-72則升力明顯不足。升力值由大至小依序是金探子、CF-50、CF-51、CF-72。
試飛方面則以雙對翼合拍(CF-110D)為主，總飛行時間大約為1分四十秒，並成功達成懸停的飛行姿態。

關鍵字

微飛行器 ； 合拍 ； 拍撲式 ； 風洞

並列摘要

The research compare to the appearance of Clap and Fling in insect, an principal object mainly base on the flapping micro aerial vehicle (MAV)-Golden snitch of TamKang University research team, improve the transmission system and devise flapping angle which makes the MAV provided Clap and Fling mechanism. An experiment Measured Aerodynamic characteristic of the flapping MAV by wind tunnel and calculate propulsive efficiency which in the result.
Clap and Fling mechanism MAV discuss with whether Clap and Fling or not(Golden snitch and CF-50), transmission system(CF-50 and CF-51), stroke angle(CF-51 and CF-72). First, the research observe a wing of the MAV flapping by high speed CCD, than analyze the aerodynamic force data. The range from 0 degree to 60 degrees that produced maximum lift force in 40 degrees, golden snitch MAV`s lift force is 9.8 g, CF-50 is 9.6 g, CF-51 is 8.1 g, CF-72 is 5.5 g, and maximum flight speed in CF-50, it is 2.75 m/s, but it needed more waste power. An aspect of transmission system, flapping of single point is better than flapping of double point. An aspect of stroke angle, CF-72(72 degrees) is bad than CF-51(50 degrees), and CF-72 MAV unable to achieve vehicle weight. An aspect of propulsive efficiency the golden snitch is better than others
Finally, an aspect of flight, the flight duration more than 100 seconds and complete hovering in double wings MAV (CF-110D)

並列關鍵字

MAV ； Clap and Fling ； flapping ； wind tunnel

參考文獻

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[30] 徐振貴，“拍翼式微飛行器之設計、製造與測試整合”，博士論文，機械與機電工程學系博士班，淡江大學，台北，2008。

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