An improved drone with 4 flat wings reciprocating up and down, complete with motor and electronics. Appendages on each wing's surface allow air to pass across it during the up-motion, and block it in the down-motion; this creates lift and permits flight and manoeuvres. The drone resembles either a flying bird or an insect, depending on wing motion and on passive attachments appropriate for the respective resemblance, making for inconspicuousness. The drone can execute complex work, either as solitary or in a team, either in flight or at rest in various places, after approaching and adhering expertly.

An improved drone with 4 flat wings reciprocating up and down, complete with motor and electronics. Appendages on each wing's surface allow air to pass across it during the up-motion, and block it in the down-motion; this creates lift and permits flight and manoeuvres. The drone resembles either a flying bird or an insect, depending on wing motion and on passive attachments appropriate for the respective resemblance, making for inconspicuousness. The drone can execute complex work, either as solitary or in a team, either in flight or at rest in various places, after approaching and adhering expertly.

A flapping wing aerial vehicle comprises at least a first and second wing, a support structure, to which the wings are connected, at least one flapping mechanism, comprising at least a first spar and a flapping actuator, the at least first spar being attached to the wing membrane of the first wing and/or the second wing, the flapping actuator being configured to pivot said at least one spar with respect to a flapping pivot axis substantially parallel to a Z-axis for inducing a flapping motion of said first wing and/or second wing; a first attitude control mechanism, configured to induce a pitch moment; a second attitude control mechanism, configured to induce a yaw moment; a third attitude control mechanism, configured to induce a roll moment; and an attitude controller, wherein the first attitude control mechanism, the second attitude control mechanism, and the third attitude control mechanism are separate mechanisms.

A flapping wing aerial vehicle comprises at least a first and second wing, a support structure, to which the wings are connected, at least one flapping mechanism, comprising at least a first spar and a flapping actuator, the at least first spar being attached to the wing membrane of the first wing and/or the second wing, the flapping actuator being configured to pivot said at least one spar with respect to a flapping pivot axis substantially parallel to a Z-axis for inducing a flapping motion of said first wing and/or second wing; a first attitude control mechanism, configured to induce a pitch moment; a second attitude control mechanism, configured to induce a yaw moment; a third attitude control mechanism, configured to induce a roll moment; and an attitude controller, wherein the first attitude control mechanism, the second attitude control mechanism, and the third attitude control mechanism are separate mechanisms.

Gear for a flapping wing aircraft, having a gearwheel support, on which a gearwheel is mounted so as to be rotatably movable about a gearwheel axis, which gearwheel is connected in a rotationally fixed manner to a crankshaft, which has a central section extending coaxially to the gearwheel axis and end regions adjoining the central section on both sides, the end regions each delimiting an angle between 0 degrees and 90 degrees with the central section and engage in a guide slot of an associated joint part which is mounted pivotably movable about a pivot axis on a joint support which is connected to the gearwheel support and which is mounted pivotably movable about a respective support axis on the gearwheel support wherein the joint supports are connected to a coupling strut and wherein an actuator, which is motion-coupled to the coupling strut, is arranged on the gearwheel support.

Gear for a flapping wing aircraft, having a gearwheel support, on which a gearwheel is mounted so as to be rotatably movable about a gearwheel axis, which gearwheel is connected in a rotationally fixed manner to a crankshaft, which has a central section extending coaxially to the gearwheel axis and end regions adjoining the central section on both sides, the end regions each delimiting an angle between 0 degrees and 90 degrees with the central section and engage in a guide slot of an associated joint part which is mounted pivotably movable about a pivot axis on a joint support which is connected to the gearwheel support and which is mounted pivotably movable about a respective support axis on the gearwheel support wherein the joint supports are connected to a coupling strut and wherein an actuator, which is motion-coupled to the coupling strut, is arranged on the gearwheel support.

Embodiments of the present disclosure provide a wing element structure, a wing structure, and a flapping-wing aircraft. The wing element structure includes a plurality of wing element units, the adjacent wing element units being connected by an airfoil control unit and awing element outer edge connector, wherein each of the wing element units includes a plurality of interconnected wing element edge pieces and a wing link connector, and the wing link connector in each of the wing element units is correspondingly connected to a wing lever group of an aircraft. Embodiments of the present disclosure provide the wing element structure with large-scale variable airfoil characteristics in both chord length and curvature. The movement of the wing element structure is driven by the movement of the wing lever group. The wing structure has the ability of variable airfoil shape and large-scale variable pitch angle, the ability to swing vertically in a large range along the plane where the main body of the aircraft is located and the ability to swing longitudinally in a large range along the main body of the aircraft. The wing structure can be adjusted for complex flow fields or environments, greatly improve the speed and efficiency of movement, and achieve high maneuverability.

Embodiments of the present disclosure provide a wing element structure, a wing structure, and a flapping-wing aircraft. The wing element structure includes a plurality of wing element units, the adjacent wing element units being connected by an airfoil control unit and awing element outer edge connector, wherein each of the wing element units includes a plurality of interconnected wing element edge pieces and a wing link connector, and the wing link connector in each of the wing element units is correspondingly connected to a wing lever group of an aircraft. Embodiments of the present disclosure provide the wing element structure with large-scale variable airfoil characteristics in both chord length and curvature. The movement of the wing element structure is driven by the movement of the wing lever group. The wing structure has the ability of variable airfoil shape and large-scale variable pitch angle, the ability to swing vertically in a large range along the plane where the main body of the aircraft is located and the ability to swing longitudinally in a large range along the main body of the aircraft. The wing structure can be adjusted for complex flow fields or environments, greatly improve the speed and efficiency of movement, and achieve high maneuverability.

A ferromagnetic actuator is disposed between first and second semiconductor devices that include first and second inductors. Each inductor is disposed on top of a multilevel wiring structure. Current flows through the first inductor to generate a first magnetic field that attracts the ferromagnetic actuator towards the first inductor causing the ferromagnetic actuator to transition from a first state to a second state. In the second state, a portion of the ferromagnetic actuator is disposed closer to the first inductor than it is in the first state. Current flows through the second inductor to generate a second magnetic field that attracts the ferromagnetic actuator towards the second inductor causing the ferromagnetic actuator to transition from the first or second state to a third state. In the third state, a portion of the ferromagnetic actuator is disposed closer to the first inductor than it is in the first state.

A motorized device capable of moving in a fluid and including one or more locomotor systems, each having at least one drive assembly linked to at least one locomotion member and a motor controlled by a voltage. The frequency of a reciprocating motion of the drive assembly matches the resonant frequency of the locomotion member linked to a non-movable portion by at least one prestrained elastic member. The instantaneous amplitude of the reciprocating motion of the drive assembly is adjusted to control the average position and the maximum amplitude of the reciprocating motion of the locomotion member. The drive assembly includes at least one speed reducer for reducing the speed of rotation of the motor. When the motor is operating at its maximum mechanical power, the speed of rotation transmitted to the at least one locomotion member is reduced to match the resonance frequency.