Air vehicle flight mechanism and control method
View Patent ↗Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.
1. An air vehicle comprising:
a support structure comprising a flapping drive element, a first airfoil rotatably attached to the support structure and a second airfoil rotatably attached to the support structure, the first airfoil comprising a first root spar and a first membrane attached to the first root spar, the first airfoil configured to be driven to flap via the flapping drive element, and the second airfoil comprising a second root spar and a second membrane attached to the second root spar, the second airfoil configured to be driven to flap via the flapping drive element, wherein air vehicle control about at least one axis of the vehicle is effected by a variable membrane luffing.
2. An air vehicle comprising:
a support structure comprising a flapping drive element, a first airfoil rotatably attached to the support structure and a second airfoil rotatably attached to the support structure, the first airfoil comprising a first root spar and a first membrane attached to the first root spar, the first airfoil configured to be driven to flap via the flapping drive element, and the second airfoil comprising a second root spar and a second membrane attached to the second root spar, the second airfoil configured to be driven to flap via the flapping drive element, wherein air vehicle control about at least one axis of the vehicle is effected by at least one of: a variable membrane luffing; variable root spar rotation travel limitation; and variable flapping angular velocity of the flapping drive element, wherein the vehicle is configured to effect air vehicle control via a vehicle control assembly comprising:
a first flappable wing having a sweep angle of travel, wherein the first flappable wing comprises a membrane attached to a root spar and a mast, the membrane having surface tension adjustable via rotation of the root spar relative to the mast; a second flappable wing having a sweep angle of travel, wherein the second flappable wing comprises a second membrane attached to a second root spar and a second mast, the membrane having surface tension adjustable via rotation of the second root spar relative to the second mast;
wherein the first flappable wing extends in a radial direction from the air vehicle and the second flappable wing extends in a radial direction from a side of the air vehicle substantially opposite the first flappable wing; and
wherein the vehicle control assembly is configured to generate at least one of: a pitching torque, a rolling torque and a yawing torque, by generating a difference between the luffing of the first flappable wing and the luffing of the second flappable wing.
3. The air vehicle of claim 2 wherein the first flappable wing further comprises a sweep angle of deflection comprising a forward sweep angle of deflection and a backward sweep angle of deflection; wherein the second flappable wing further comprises a sweep angle of deflection comprising a forward sweep angle of deflection and a backward sweep angle of deflection; and wherein the vehicle control assembly is further configured to generate a yawing torque, by at least one of: a difference between the forward sweep angle of deflection of the first flappable wing and the forward sweep angle of deflection of the second flappable wing, and a difference between the backward sweep angle of deflection of the first flappable wing and the backward sweep angle of deflection of the second flappable wing.
4. An air vehicle comprising:
a support structure comprising a flapping drive element, a first airfoil rotatably attached to the support structure and a second airfoil rotatably attached to the support structure, the first airfoil comprising a first root spar and a first membrane attached to the first root spar, the first airfoil configured to be driven to flap via the flapping drive element, and the second airfoil comprising a second root spar and a second membrane attached to the second root spar, the second airfoil configured to be driven to flap via the flapping drive element, wherein air vehicle control about at least one axis of the vehicle is effected by at least one of: a variable membrane luffing; variable root spar rotation travel limitation; and variable flapping angular velocity of the flapping drive element, wherein the vehicle is configured to effect air vehicle control via a vehicle control assembly comprising a luffing control assembly wherein the first root spar is attached to the luffing control assembly; and the second root spar is attached to the luffing control assembly.
5. The air vehicle of claim 4 wherein the luffing control assembly comprises a first yang attached to the first root spar, a second yang attached to the second root spar, and a repositionable yang yoke configured to receive the first yang and the second yang.
6. The air vehicle of claim 5 wherein a first arm further comprises a first repositionable stop and a second repositionable stop together defining a rotation angle of the first root spar about the first wing mast; and wherein a second arm further comprises a third repositionable stop and a fourth repositionable stop, the third repositionable stop and a fourth repositionable stop together defining a second rotation angle of the second root spar about the second wing mast.
7. The air vehicle of claim 6 wherein the first stop is disposed on a first pulley and the second stop is disposed on a second pulley, the first pulley and the second pulley each rotatably repositionable via an actuated linking member and the third stop and fourth stop each rotatably repositionable via a second actuated linking member.
8. The air vehicle of claim 7 wherein the first stop is disposed on a first pulley and the second stop disposed on a second pulley, the first pulley and the second pulley each rotatably repositionable via an actuated linking member to increase a first angle subtended by the first stop and the second stop, and the third stop and fourth stop each rotatably repositionable via a second actuated linking member to increase a second angle subtended by the third stop and the fourth stop.
9. The air vehicle configured to effect air vehicle control via a vehicle control assembly comprising:
a first flappable wing having a sweep angle of travel, wherein the first flappable wing comprises a membrane attached to a root spar and a mast, the membrane having surface tension adjustable via rotation of the root spar relative to the mast;
a second flappable wing having a sweep angle of travel, wherein the second flappable wing comprises a second membrane attached to a second root spar and a second mast, the membrane having surface tension adjustable via rotation of the second root spar relative to the second mast;
wherein the first flappable wing extends in a radial direction from the air vehicle and the second flappable wing extends in a radial direction from a side of the air vehicle substantially opposite the first flappable wing; and
wherein the vehicle control assembly is configured to generate at least one of: a pitching torque, a rolling torque and a yawing torque, by generating a difference between the luffing of the first flappable wing and the luffing of the second flappable wing.