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System No. U0002-3008201316040600
Title (in Chinese) 鋼質仿生尾舵之改良
Title (in English) Improvement on steel-based bionic tail rudder
Other Title
Institution 淡江大學
Department (in Chinese) 機械與機電工程學系碩士班
Department (in English) Department of Mechanical and Electro-Mechanical Engineering
Other Division
Other Division Name
Other Department/Institution
Academic Year 101
Semester 2
PublicationYear 102
Author's name (in Chinese) 林威仲
Author's name(in English) Wei-Chung Lin
Student ID 600370497
Degree 碩士
Language Traditional Chinese
Other Language
Date of Oral Defense 2013-06-21
Pagination 63page
Committee Member advisor - Lung-Jieh Yang
co-chair - Tien-Li Chang
co-chair - Hsieh-cheng Han
Keyword (inChinese) 仿生
尾舵
雷射切割
毛細結構
聚對二甲苯
不鏽鋼
Keyword (in English) Bionic
Tail rudder
Laser cutting
Comb shape structures
Parylene
stainless steel
Other Keywords
Subject
Abstract (in Chinese)
本研究的概念主要是參考孢子囊表面張力驅動的原理,並且延續先前的設計來改良並製作出仿生尾舵,其主要的目的是將仿生尾舵應用於微飛行器(micro air vehicle﹐MAV),使之能夠達到轉向的功能,其次因裝上仿生尾舵會增加負載,因此也將對MAV的負載進行改良。
仿生尾舵材料是使用40μm厚的不鏽鋼片,並委託外面雷射切割工廠製作,成功製作出仿生尾舵的成品。為了要使驅動的角度增大,故使用表面親水改質-沉積聚對二甲苯的方式,讓仿生尾舵的毛細結構間隙能完全吸附充滿工作液體,驅動的角度能夠提升。負載性能則是以國防大學升力較大的蝙蝠拍翼機做參考,之後將仿生尾舵裝置垂直尾翼上試看驅動的情形,期望裝上仿生尾舵能夠讓MAV達到轉向的功能,且能同時降低用電的需求量,以呈現仿生的樣貌。
Abstract (in English)
This thesis mainlu presents an animation of the sporangial motion for making bionic tail actuators of flapping micro-air-vehicles(FMAVs) regarding energy saving. A SUS-304 steel foil of 40μm thick is used as the working substrate. The actuation area of 40-50 comb-shaped cantilevers is designed to have the maximum actuating angle change about several degrees. Nd-YAG laser machining with air cooling and water cooling respectively are performed to cut off the surface tension-driven actuators. Surface modification including parylene coating and oxygen plasma treatment are added to enlarge the actuation stroke angles up to 10˚-12˚ for practical usage in flight direction control.
Secondly, the payload modification of the FMAVs is also addressed. The added payload is for the make up of the bionic tail actuator. The design method is to assign the center of gravity in the middle of the FMAV. The tail area is so close to the flapping wing area as to generate the approximately equivalent lift to the flapping lift. The flight test of the new FMAV with wingspan of 25.5cm verifies the above design.
Other Abstract
Table of Content (with Page Number)
目錄
目錄	IV
圖目錄	VII
表目錄	XI
第一章 緒論	1
1-1 MAV簡介	1
1-2 文獻回顧	2
1-3 研究目的	7
1-4 各章提要	10
第二章 微拍翼機之酬載性能改良	11
2-1 事前工作	11
2-2組裝製作與實飛測試	18
2-3與金探子做比較	22
第三章 仿生尾舵之制動性能改良	23
3-1 改良項目及原因	24
3-2仿生尾舵之設計	28
3-3雷射切割機台	29
3-4雷射切割所遇到的問題	30
第四章 仿生尾舵之實驗量測	38
4-1 驅動實驗設備介紹	38
4-2 實測仿生尾舵驅動測試	40
4-3 表面改質	41
4-4 角度及各參數值	42
4-5 實測仿生尾舵安裝至微飛行器上	43
4-6加熱仿生尾舵	45
4-7 風洞設備介紹	50
4-8 量測仿生尾舵安裝尾翼上之數據	54
第五章 結論	56
5-1結論	56
參考文獻	58
附錄A儲存槽設計	62
附錄B梯形慣性矩方程式推導	63
 
圖目錄
圖1-1 微飛行器之分類:(a)定翼式(Black Widow),(b)旋翼式,(c)拍翼式	1
圖1- 2類孢子囊制動之原理 : (a) 液體充滿毛細微結構時,孢子囊元件呈現閉和狀態;(b) 仿孢子囊環狀之毛細微結構會因液體蒸發表面張力改變而張開	3
圖1-3孔雀開屏式毛微細結構示意圖	4
圖1-4孔雀開屏式毛細微結構: (a)未受液體驅動之形貌; (b)經驅動液體(水)沾附而變形之形貌	4
圖1-5毛細驅動微型控制鉸鍊示意圖	5
圖1-6控制鉸鍊受液滴沾附: (a)液滴沾附前;(b)液滴沾附後	5
圖1-7改良仿生尾舵為30˚夾角	6
圖1-8沉積parylene之不鏽鋼毛細微結構彎折角度: (a)未受液滴沾附角度為37°;(b)受液滴沾附角度為27°	6
圖1-9本研究群研製之T字形尾翼MAV		7
圖1-10本研究群研發的金探子MAV: (a)整體視圖; (b) 尾翼順時針擺動; (c)尾翼逆時針擺動	8
圖1-11荷蘭團隊所研製的微飛行器Delfly	8
圖1-12論文架構	10
圖2-1國防大學的蝙蝠拍翼機	14
圖2-2柏努利效應造成之升力	14
圖2-3國防大學蝙蝠拍翼機之機頭攻角	15
圖2-4國防大學蝙蝠拍翼機之尾翼攻角	15
圖2-5蝙蝠拍翼機之升、推力分析	16
圖2-6蝙蝠翼膜(上)、金探子翼膜(下)	16
圖2-7蝙蝠尾翼(上)、金探子尾翼(下)	17
圖2-8尾翼裝置拍翼機:蝙蝠尾翼(上)、金探子尾翼(下)	17
圖2-9蝙蝠拍翼機(上視圖)	18
圖2-10蝙蝠拍翼機(側視圖)	19
圖2-11實際飛行路徑;順序由a ~ f	20
圖2-12實驗飛行路徑;順序由a ~ f	21
圖3-1仿生尾舵之架構	23
圖3-2主幹寬度與加強化桿件之位置	25
圖3-3熱源流經的路徑(無主幹寬度)	25
圖3-4淡江大學機械工廠之線切割機	26
圖3-5垂直尾翼示意圖	27
圖3-6尾翼實體圖:(a)組裝前、(b)組裝後,紅圈為鑽孔位置	27
圖3-7無主幹寬度之毛細微結構	28
圖3-8崇電雷射公司之SYNOVA - LCS300	29
圖3-9有積碳之毛細微結構橫截面圖	31
圖3-10有積碳之毛細微結構俯視圖	31
圖3-11已清除積碳之毛細微結構橫截面圖	32
圖3-12已清除積碳之毛細微結構俯視圖	32
圖3-13單懸臂梯形橫截面圖1	35
圖3-14單懸臂梯形橫截面圖2	35
圖3-15梯形橫剖面示意圖	36
圖3-16新設計的仿生尾舵: (a)示意圖;(b)實體圖	37
圖4-1驅動實驗設備: (a)驅動量測端;(b)畫面擷取端;(c)畫面輸出端	39
圖4-2仿生尾舵驅動角度;(a)未受液體驅動角度為65˚;(b)受液體驅動角度為60˚	40
圖4-3懸臂量間驅動變化;(a)未受液體驅動為5˚;(b)受液體驅動為3˚	40
圖4-4表面改質仿生尾舵驅動角度: (a)未受液體驅動角度為62˚;(b)受液體驅動角度為50˚	41
圖4-5安裝仿生尾舵示意圖	43
圖4-6切割強化桿件示意圖	43

圖4-7將仿生尾舵裝置尾翼上實際圖: (a)驅動前;(b)驅動後角度為7˚	44
圖4-8加熱仿生尾舵架構	45
圖4-9加熱仿生尾舵變化情形	46
圖4-10滴入丙酮驅動變化	47
圖4-11滴入乙醇驅動變化	48
圖4-12滴入異丙醇驅動變化	49
圖4-13開路式低速風洞	50
圖4-14LW-9028雙軸力規	51
圖4-15六軸力規	52
圖4-16風洞整體實驗架構	53
圖4-17側向力方向之定義	53
圖4-18側向力比較圖 (雙軸力規)	54
圖4-19側向力比較圖 (六軸力規)	55
圖A1小型儲存槽	62
 
表目錄
表2-1 翼膜與尾翼相關數據	18
表2-2金探子與蝙蝠拍翼機各項數據	22
表4-1 毛細	微結構的設計參數、驅動角度及楊氏模數	42
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