Fig.1

Representative bird inspired flapping-wing micro aerial vehicles

Table 1

Performance parameters of representative BIFMAVs

Fig.2

Conceptual design processes for BIFMAVs［22］

Fig.3

Integrative and comparative framework for flapping wing aerodynamics of birds［23，27-39］

Fig.4

PIV contour of leading edge vortex at hand wing section when flying at 1 m/s［49］

Fig.5

Effect of Reynolds number on leading edge vortex［27］

Fig.6

Typical small-scale flow control structures attached to pigeon wings［55］

Fig.7

Schematic of blade element theory for estimating aerodynamic forces of flapping wings［23］

Fig.8

Schematic of actuator disc theory for estimating aerodynamic forces of flapping wings［23］

Fig.9

Schematic of inviscid vortex theory for estimating aerodynamic forces of flapping wings［23，44，54，69］

Fig.10

Flapping wing discretization and example of typical vortex element［82］

Fig.11

Taxonomy of aerodynamic estimation models in hovering and forward flight［85］

Fig.12

Basic framework of wind tunnel testing system

Fig.13

Low turbulence wind tunnel of Northwestern Polytechnical University

Fig.14

Wind tunnel experimental measurement and control system

Fig.15

DIC experimental system

Fig.16

ATI corporation nano17 series

Fig.17

Computational grid used for tandem-wing analysis［121］

Fig.18

Comparison of vorticity contours between numerical and experimental results at different reduced frequencies［125］

Fig.19

Pressure contours and streamlines［133］

Fig.20

Key technologies and challenges of numerical simulation of BIFMAVs

Fig.21

Test wing structures［137］

Fig.22

Optimization design of flapping wing platform［138］

Fig.23

Design process of biomimetic flapping wing［22］

Fig.24

Aeroelastic analysis of flexible wing with different structural frames［8］

Fig.25

Classification of types of flapping actuation mechanism utilized in BIFMAVs［141］

Fig.26

A four-bar linkage driven mechanism utilized in BIFMAVs［142］

Fig.27

Schematic of Delfly Ⅱ’s driven mechanism［147-148］

Fig.28

Schematic of five-bar linkage driven mechanism［149］

Fig.29

Schematic of six-bar linkage driven mechanism utilized in SDU-1［150］

Fig.30

Schematic of string-based driven mechanism［151］

Fig.31

A crank shaft driven mechanism［153］

Fig.32

Equivalent block diagram of crank shaft driven mechanism

Fig.33

Schematic of compliant structure driven mechanism［154］

Fig.34

Schematic of two kinds of hybrid driven mechanisms［155］

Fig.35

Effects of temperature and stress on phase transition of SMA［156］

Fig.36

Schematic of DEMES rotary joints and flapping wing driven system［157］

Table 2

Research results on dynamics models of FMAVs

Fig.37

FMAVs research platform and its multibody dynamics model［181］

Fig.38

Multibody dynamics model of FMAVs［175］

Table 3

Control systems of FMAVs

Fig.39

Experimental platform of BIFMAVs and tail angles［185］

Fig.40

Topographical map with navigational variables shown［187］

Fig.41

Flight control circuit board of “Dove” ［8］

Fig.42

Comparison of time histories for altitude between MFAVSC and MFAC［178］

Fig.43

Comparison of circular trajectory tracking of HIT-Phoenix［13］

Fig.44

Schematic of simplified two-stage landing trajectory adopted in flight experiments［192］