Structure Design and Mathematical Modeling of Bionic Butterfly Flapping Wing Aircraft

Based on the principle and flying mode of butterfly flying in reality, a bionic butterfly flapping-wing robot is studied. The design of the robot is based on a crank-connecting rod mechanism. The input of the crank connecting rod mechanism is provided by the first-stage reducer driven by a brushless DC motor, which can realize the periodic flapping of the wings and adjust the flapping frequency of the wings. The robot is equipped with a steering tail and an elevator tail, the input of which is provided by a steering gear, which realizes the controllability of the flight height and direction. The comparison and analysis of the simulation results of kinematics and dynamics modeling with theoretical results prove the feasibility of this flying mechanism. The structure of this flying mechanism is simple, which provides a new feasible scheme for the bionic flapping wing mechanism.