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    • 7. 发明授权
    • Moving apparatus
    • 移动装置
    • US08210470B2
    • 2012-07-03
    • US11166743
    • 2005-06-23
    • Yoshiji OhtaKeita HaraMasaki Hamamoto
    • Yoshiji OhtaKeita HaraMasaki Hamamoto
    • B64C33/02
    • B64C33/00
    • In a moving apparatus, flapping angle of a front wing shaft is γ+Δγ/2, and the flapping angle of rear wing shaft is γ−Δγ/2. Specifically, amplitude difference between front wing shaft and rear wing shaft is Δγ. Further, the flapping motion of front wing shaft is represented by sin (τ+φ/2), and the flapping motion of rear wing shaft is represented by sin (τ−φ/2). In other words, phase difference between the front and rear wing shafts is φ. Further, amplitude difference Δγ and phase difference φ are each represented by a function using a common parameter. Therefore, a control portion can independently change the amplitude difference Δγ and phase difference φ, so as to variously change a torsion angle formed by a tip end portion of the wing and a prescribed phantom plane. Thus, a moving apparatus that can make an efficient transition from hovering to forward or backward flight can be provided.
    • 在移动装置中,前翼轴的拍击角为γ+&Dgr;γ/ 2,后翼轴的拍打角为γ&Dgr;γ/ 2。 具体来说,前翼轴和后翼轴之间的振幅差为&Dgr;γ。 此外,前翼轴的拍击运动由sin(τ+&phgr; / 2)表示,后翼轴的扑动运动由sin(τ-&phgr; / 2)表示。 换句话说,前翼和后翼轴之间的相位差是&phgr。 此外,振幅差Dgr;γ和相位差 各自由使用公共参数的函数表示。 因此,控制部分可以独立地改变振幅差Dgrγ和相位差phgr,以便不同地改变由翼的末端部分形成的扭转角和规定的幻影平面。 因此,可以提供可以从盘旋到向前或向后飞行的有效过渡的移动装置。