Fig.1

Principle model of FWR-MAV

Table 1

Data of FWR-MAV components

Fig.2

The first group of flapping wing models using three main beams of different diameters： JX-1， JX-2， and JX-3

Fig.3

The second group of flapping wing models using two secondary beams of different diameters： JX-4 and JX-5

Fig.4

The third group of flapping wing models with an addition of auxiliary secondary beams to improve support stiffness of wing membrane： JX-6， JX-7 and JX-8

Fig.5

The fourth group of flapping wing models with altered wingtip stiffness and shape： JX-9， JX-10， JX-11， and JX-12

Fig.6

Flapping wing FS imitating dragonfly wings shape

Table 2

Mass of flapping wing models

Fig.7

Schematic of measurement of spanwise bending stiffness of flapping wing girder

Fig.8

Bending stiffness of wings JX-1， JX-2， JX-3 and FS girder along the span

Fig.9

Schematic of measurement of chordwise bending stiffness of flapping wing

Fig.10

Chordwise bending stiffness of flapping wing at different positions

Fig.11

Schematic diagram and experimental diagram of FWR model lift measurement system

Fig.12

Variation of flapping， pitch and rotation angle of flapping wing rotor with time

Fig.13

Effect of spanwise stiffness on flapping frequency， rotary speed and aerodynamic performance

Fig.14

Effect of chordwise stiffness on flapping frequency， rotary speed and aerodynamic performance

Fig.15

Effect of membrane support stiffness on flapping frequency， rotary speed and aerodynamic performance

Fig.16

Effects of wingtip stiffness and shape on flapping frequency， rotary speed and aerodynamic performance

Fig.17

Comparison of aerodynamic performance of 10 flapping wing models with input voltage of 3.4 V

Fig.18

Effects of flapping wing stiffness distribution and wing tip shape on aerodynamic lift and efficiency

Fig.19

Average lift and efficiency measurements of FS wing at different flapping frequencies

Fig.20

Comparison of flapping frequency， rotary speed and aerodynamic performance between FS wing and JX-10 wing

Fig.21

Dynamic force of FS wing and JX-10 wing

Fig.22

Spectrum analysis of dynamic force for FS wing and JX-10 wing in case of 3.7 V