臺灣博碩士論文加值系統

針對微型拍翅飛行器之研究，本論文提出一嶄新拍翅機構及機翼之設計。拍翅機構是由偏心凸輪為動力來源，帶動機翼之往復拍動，並結合減速微馬達及滑塊桿作為微型拍翅飛行器之傳動系統，使兩機翼拍動之相位是一致的，減少飛行時左右搖擺的不平衡性。機翼之設計乃在翅膀翼面上打孔洞，形成單向氣流的羽翼作用，減少機翼向上拍舉時所產生向下的反升力，進而提升微型拍翅飛行器向上飛升的效率。本論文利用working model軟體進行拍翅機構之運動模擬分析，進而產生傳動機構之設計尺寸，並以快速成型機加工製作。機翼則沿用市售成品，翼面部份使用PE膜，翅膀骨架則採用0.8mm 碳纖維棒，改良加工而成。至於機身、微馬達、無線控制模組及鋰電池等，則以市售商品化組件或材料組裝而成。本微型拍翅飛行器之身長為25公分，展翼長度為20公分，總重量約11克。經由實際組裝測試，本微型拍翅飛行器有飛行能力，只要微馬達轉矩提升，有足夠動力輸出，實現本微型拍翅飛行器的飛行夢想。

This study aims at the development of a novel design of flapping mechanism and wings for flapping-wing micro air vehicles (MAVs). The flapping mechanism in the study is composed of a decelerated motor, an eccentric cam with shafts, and wings. The cam linkage, driven by the decelerated motor, activates the flapping of wings. The linkage makes the same flapped phases of two wings, which can avoid the pitches toward left or right when the MAV flies. The design of the wings is to punch holes in the wings to form one-way air flow, which can decrease the downward drag force when flapping upward and improve the lifting efficiency. This study uses working model® software to make a motion simulation analysis of flapping mechanism, from which the size of the linkage is drawn and the linkage is produced by means of rapid prototyping machines. The wings in the study are ready-made products, part of the wing skin is covered by PE films, and the frames of wings are made of 0.8mm carbon fiber rods. The airframe, micro motor, radio control module and lithium battery are made by ready-made component parts or materials on the market. The MAV of the study makes the length 25 cm, the wingspan 20 cm, and a gross weight 11 g. From the test results, it is found that the MAV has flying ability; however, the torsion of the micro motor is not high enough to lift the MAV from the ground. If the micro motor can be equipped with sufficient power, the dream that the MAV can fly can be carried out.

摘要 I
Abstract II
誌 謝 IV
目 錄 V
表 目 錄 VIII
圖 目 錄 X
符號說明 XV
第一章 緒論 1
1.1前言 1
1.2發展背景 3
1.3文獻回顧 5
1.4研究動機與目的 15
1.5論文架構 16
第二章 飛行機制理論 18
2.1飛行理論 18
2.2鳥類飛行方式 19
2.3雷諾數 21
2.4升力 23
2.4.1升阻比 25
2.4.2攻角 26
2.5機翼 27
2.5.1翼展 27
2.5.2翼弦長 28
2.5.3展弦比 28
2.5.4飛行拍翼姿態 28
2.6尺度律 30
第三章 拍翅機構之設計與製作 32
3.1拍翅機構之設計 32
3.1.1 齒輪組回顧 32
3.1.2 構想設計 34
3.1.3 機構設計 36
3.2拍翅機構之製作 37
3.2.1 實體模型製作與演進 37
3.2.2 實體機構使用材料 46
3.3微型飛行器之設計 47
3.3.1機身設計 47
3.3.2尾翼設計 48
3.3.3機身和尾翼使用材料 49
3.4控制器模組的介紹 50
3.4.1 遙控器 50
3.4.2 鋰聚合物電池 51
3.4.3馬達選用 52
第四章 機翼之設計及製作 55
4.1機翼之設計 55
4.1.1機翼翼面構型 56
4.1.2機翼翼面膜孔洞型式 58
4.2機翼之製作 61
4.3重心調整 63
4.4微型飛行器之組裝 63
第五章 風洞實驗測試 66
5.1實驗設備介紹 66
5.1.1低速風洞 66
5.1.2數據擷取器 67
5.1.3六軸力規 68
5.1.4可變攻角夾具 69
5.1.5風洞實驗設備架構 69
5.2 攻角測量 71
5.3 機翼測量 74
5.4 風洞視流實驗 81
第六章 結論和未來展望 88
6.1結論 88
6.2未來展望 89
參考文獻 90
附錄 97

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