論文提要內容：
本研究深入比較與分析翼前緣扭轉機制，旨在找出最佳的翼旋轉方法。利用高速攝影捕捉翼膜拍打運動，並透過Kwon3D軟件和MATLAB進行軌跡分析，再藉由風洞測試中的升力信號與旋轉機制的3D翼弦面軌跡進行對比和分析。在"原始伺服機構（A1）"和"具有機械阻擋機制的錐齒輪伺服機構（B1）"中，針對兩種機構運作進行高速攝影拍攝，其中使用驅動電壓為5V，頻率為2.5 Hz，並在翼展70厘米處標記相應軌跡捕捉點位。
• Kwon 3D可以識別可撓性翼面的位置數據，並顯示每張图幀翼旋轉機制的攻角變化情形。
 • 在A-1機構中，當傾斜角度為15度，風速為3 m/s時，生成的最大升力為118.64克重。
 • 在B-1機制中，當傾斜角度為0度，風速為0 m/s時，生成的最大升力為127.79克重。
此外，本文亦探討翼展20厘米拍翼之四種不同翼前缘扭動轉機構的比較與分析：第一代機構利用半齒錐齒輪環繞小齒輪進行翼旋轉。第二代通過使用克重級伺服系統和直齒錐齒輪縮小化此機構。第三代和第四代機構則以第二代為基礎，採用了伊凡斯機構，進一步改良並實現有效的翼旋轉作動機制。第四代的伊凡斯機構的作動結果歸納出在飛行懸停過程中，與迪金森的闡述的翼旋轉物理觀念相符合，並且拍打頻率達到了8.7 Hz。此外，針對整體機構設計進行減重，使FWMAV總重量減到10.99克。

Abstract: 
This research delves into the comparative analysis of leading-edge twisting mechanisms for flapping wings, aiming to discern optimal approaches for wing rotation. High-speed photography captures flapping motion, subsequently processed using Kwon3D software and MATLAB for trajectory analysis. Lift force signals from wind tunnel tests are juxtaposed with 3D wing chord surface trajectories of rotational mechanisms. High-speed camera experiments are conducted on ‘Normal servo mechanism (A1)’ and ‘Bevel gear servo with mechanical stoppers (B1)’ mechanisms, utilizing 5V driving at 2.5 Hz with consequent points marked on a 70 cm wingspan.
•	Kwon 3D, the position data of the flexible wing surface can be identified as a change in angle of attack (AOA) in each frame for the wing rotation mechanisms.
•	In the A-1 mechanism, the maximum lift force generated at an inclination of 15° and wind speed of 3 m/s is 118.64 gf. 
•	In the B-1 mechanism, the maximum lift force generated at an inclination of 0° and the wind speed of 0 m/s is 127.79 gf.
In addition this thesis explores advancements in wing rotation mechanisms across four generations on 20 cm wingspans: Generation 1 mechanism utilized half-tooth bevel gears around the pinion gear for wing rotation. Generation 2 scaled this mechanism down using gram-scale servo systems and straight bevel gears. Building upon Generation 2, Generations 3 and 4 adopted Evans mechanism, refining the approach to achieve effective wing rotation. Generation 4's implementation of Evans mechanism demonstrated significant enhancements in achieving Dickinson's concept of improved wing rotation during hovering, achieving a flapping frequency of 8.7 Hz. Moreover, weight reduction methods were employed, resulting in a total FWMAV weight of 10.99 grams.

TABLE OF CONTENTS

ACKNOWLEDGEMENT	i
Abstract:	iii
TABLE OF CONTENTS	v
LIST OF FIGURES	vii
LIST OF TABLES	xi
CHAPTER 1: INTRODUCTION	1
1.1               Classification of Wing Rotation FWMAVs	1
1.1.1	 Passive wing rotation mechanisms	1
1.1.2	Active wing rotation mechanisms	2
1.1.3	Hybrid wing rotation mechanisms	4
1.2               Brief History of Flapping Flight	4
1.3               Sequential Generations of Tamkang Groups FWMAVs	5
1.4               Literature Survey on Wing Rotation Flapping Mechanism	7
1.5               Motivation of the Wing Rotation Mechanism	10
1.6               Thesis Outline	11
1.6.1	Trajectory analysis of flapping wing rotational mechanisms with bevel gear for Ornithopter	11
1.6.2	Design and fabrication of wing rotation to Evans mechanism.	12
CHAPTER 2: EVALUATING WING ROTATION MECHANISMS THROUGH WIND TUNNEL AND HIGH-SPEED CAMERA TESTING	13
2.1              Load-cell Stand Design and Setup	13
2.2              Wind Tunnel Testing and Aerodynamic Force Measurements	15
2.3              High-Speed Camera Experimental Setup and Process	16
2.4              Camera’s Synchronization	18
CHAPTER 3: POST-PROCESSING OF HIGH-SPEED RECORDINGS WITH KWON SOFTWARE	20
3.1              Introduction	20
3.2              Kwon 3D	21
3.2.1	Kwon 3D analysis for MAV	22
3.2.2	Calibration framework process	22
3.3              Type A-1 Standard Servo Mechanism	24
3.4              Type B-1 Servo Bevel Gear Mechanism with Mechanical Stoppers	31
CHAPTER 4: EVANS WING ROTATION MECHANISM	36
4.1              Generation-1 Wing Rotation Mechanism	36
4.2              Generation-2 Wing Rotation Mechanism	40
4.3              Generation-3 Wing Rotation Mechanism	42
4.4             Generation-4 Wing Rotation Mechanism	45
4.5             Fabrication and Assembly	50
4.6             Hovering Concept	54
4.7             Flight test	57
CHAPTER 5: CONCLUSION AND FUTURE WORK	60
5.1             Conclusion on Kwon 3D	60
5.2             Conclusion on Wing Rotation Mechanisms	60
5.3             Future Work	61
REFERENCES	62
APPENDIX A: MATLAB CODE	65
APPENDIX B: LOAD CELL STAND DESIGN	73
APPENDIX C: WING ROTATION MECHANISM DESIGN	75

LIST OF FIGURES


Figure 1.1      Elastic hinge mechanism	2
Figure 1.2      Spring-assisted MAV	2
Figure 1.3      Servo-motor mechanism	3
Figure 1.4      Piezoelectric actuator MAVs.	3
Figure 1.5      Radio control system with battery-operated prototype 	4
Figure 1.6      Nano air vehicle “Nano Hummingbird” 	5
Figure 1.7      First-generation FWMAV of the TKU MEMS group 	5
Figure 1.8      Second-generation FWMAV of the TKU MEMS group	5
Figure 1.9      Third-generation FWMAV of the TKU MEMS group	6
Figure 1.10    Fourth-generation FWMAV of the TKU MEMS group	6
Figure 1.11    Evans mechanism	6
Figure 1.12  Body coordinates of a FWMAV with 3 flapping motions or main actions.	7
Figure 1.13    Experimental setup of Dickinson et al.	7
Figure 1.14   Position of wing: (a) Proximal chord; (b) Mid-downstroke and mid-upstroke.	8
Figure 1.15    Figure-of-8 trajectory	8
Figure 1.16    Advanced wing rotation with lift and drag forces	9
Figure 1.17    Symmetrical wing rotation with lift and drag forces	9
Figure 1.18    Delayed wing rotation with lift and drag forces	10
Figure 1.19    Angle of attack MAV: (a) Lift force system; (b) Drag force system	10
Figure 2.1      Base part.	14
Figure 2.2      Top part.	14
Figure 2.3      Inclination parts: (a) 0°; (b) 15°; (c) 30°.	15
Figure 2.4      Load cell stand setup.	15
Figure 2.5      Dimensions of wind tunnel.	16
Figure 2.6      Phantom Miro Ex-4	17
Figure 2.7      Phantom Miro M310	17
Figure 2.8      Experimental setup inside the wind tunnel.	18
Figure 2.9      Ethernet hub	18
Figure 2.10    High-speed camera synchronization concept	19
Figure 3.1   (a) Kwon 3D interface with active marking system; (b) Kinematic animated motion of the human body.	21
Figure 3.2      Reconstruction error.	24
Figure 3.3      Type A-1 mechanism: (a) Front view; (b) Top view.	24
Figure 3.4     Type A-1 mechanism figure-of-8: (a) 0 m/s; (b) 1 m/s; (c) 2 m/s; (d) 3m/s.	26
Figure 3.5      Downstroke of Type A-1 mechanism 3D wing surface	27
Figure 3.6      Upstroke of Type A-1 mechanism 3D wing surface	28
Figure 3.7      Type A-1 mechanism lift vs. wind speed: (a) 0º inclination angle; (b) 10º inclination angle; (c) 30º inclination angle.	29
Figure 3.8    Comparison of flapping cycle lift to AOA at 0 m/s: (a) Type A-1 mechanism downstroke of AOA; (b) Type A-1 mechanism upstroke of AOA	30
Figure 3.9   Comparison of flapping cycle lift to AOA at 3m/s: (a) Type A-1 mechanism downstroke of AOA; (b) Type A-1 mechanism upstroke of AOA.	30
Figure 3.10    Type B-1 mechanism	31
Figure 3.11    Type B-1 mechanism figure-of-8: (a) 0 m/s; (b) 1 m/s; (c) 2 m/s; (d) 3m/s.	32
Figure 3.12    Downstroke of Type B-1 mechanism 3D wing surface	32
Figure 3.13    Upstroke of Type B-1 mechanism 3D wing surface	33
Figure 3.14    Type B-1 mechanism lift vs. wind speed: (a) 0º inclination angle; (b) 10º inclination angle; (c) 30º inclination angle.	34
Figure 3.15  Comparison of flapping cycle lift to AOA at 0 m/s: (a) Type B-1 mechanism downstroke of AOA; (b) Type B-1 mechanism upstroke of AOA	35
Figure 3.16  Comparison of flapping cycle lift to AOA at 3 m/s: (a) Type B-1 mechanism downstroke of AOA; (b) Type B-1 mechanism upstroke of AOA.	35
Figure 4.1      B-1 mechanism: (a) Front view; (b) Top view.	36
Figure 4.2  Side view of mechanism frame: (a) A-1 mechanism; (b) Gen-1 mechanism.	37
Figure 4.3        Generation-1 wing rotation mechanism: (a) Front view; (b) Top view.	38
Figure 4.4      Explosion view of Gen-1 wing rotation mechanism	38
Figure 4.5     Expected trajectory pattern: (a) A-1 mechanism real case trajectory; (b) Gen-1 expected trajectory; (c) Gen-1 real case trajectory.	39
Figure 4.6      Wing profile: (a) Expected wing chord trajectory of B-1 mechanism; (b) Expected wing chord trajectory of Gen-1 mechanism	40
Figure 4.7        Generation-2 wing rotation mechanism: (a) Front view; (b) Top view.	40
Figure 4.8      Explosion view of Gen-2 wing rotation mechanism	41
Figure 4.9       Generation-3 wing rotation mechanism: (a) Front view; (b) Top view.	42
Figure 4.10     Straight bevel gear frame	43
Figure 4.11   Generation-3.2 wing rotation mechanism: (a) Front view; (b) Top view.	44
Figure 4.12    Gears: (a) Selective toothed bevel gear; (b) Pinion gear.	45
Figure 4.13    Fully mechanical mechanism: (a) Normal Evans mechanism; (b) Evans wing rotation mechanism.	46
Figure 4.14  Exploded view of fully mechanical mechanism: (a) Normal Evans mechanism; (b) Evans wing rotation mechanism.	47
Figure 4.15      Expected trajectory of Evans wing rotation mechanism: (a) Upstroke; (b) Downstroke.	48
Figure 4.16    A complete cycle of Generation-3 wing rotation mechanism	49
Figure 4.17    Different sizes of granular bar	50
Figure 4.18    Assembled mechanism: (a) Front view; (b) Top view.	51
Figure 4.19    Rough surface frame: (a) Gen-4 frame; (b) Gen-4.2 frame.	52
Figure 4.20    Granular bar: (a) 4 mm rough bar; (b) 3 mm motor gear.	53
Figure 4.21    Schematic diagram of advanced wing rotation	54
Figure 4.22  Downstroke of Evans wing rotation: When a large thrust force is generated, the granular bar (motor gear) has contact with the rough surface at the time interval of 14.606 sec and 14.617 sec of the upper wall and starts a clockwise rotation in upstroke as shown in Figure (50- 6/7,7/7 period).	55
Figure 4.23  Upstroke of Evans wing rotation: When a large thrust force is generated, the granular bar (motor gear) can contact the rough surface at the time interval of 14.675 sec and 14.693 sec of the upper wall and start a counterclockwise rotation in upstroke as shown in Figure (51- 6/7,7/7 period). The total duration of the full cycle as per the total periods is 0.145 seconds and the flapping frequency of 8.7 Hz.	56
Figure 4.24    Flight test 1 of Evans wing rotation mechanism	58
Figure 4.25    Flight test 2 of Evans wing rotation mechanism	59
Figure B.1     Bottom stand	73
Figure B.2     Top stand	73
Figure B.3     0° inclination	74
Figure B.4     15° inclination	74
Figure B.5     30° inclination	75
Figure C.6     Modified central base	75
Figure C.7     Central base with bevel gear	76
Figure C.8     Wing bar	76
Figure C.9     Servo to wing bar connector	77
Figure C.10   Pinion gear	77
Figure C.11   Front frame with straight bevel gear	78
Figure C.12   Front base with a rough surface front and side view	78
Figure C.13   Front base with a rough surface top view	79

LIST OF TABLES

`
Table 2.1 Dimensions and details of wind tunnel	16
Table 3.1 Coordinate points for calibration frame	23
Table 4.1 The weight distribution of MAV	53

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