Patent ID: 9745058
Date: 2017-08-29
CPC Classifications: A63H,B64C

Claim:
1. An ornithopter comprising: a main wing mounted on a fuselage; and a control system configured to control a flapping motion of the main wing, wherein the main wing comprises: an inner spar extending outwardly from the fuselage; an outer spar extending outwardly from the inner spar; and a wrist portion disposed between the inner spar and the outer spar, and configured to vary a bending angle within a predetermined angle range, the bending angle being a relative angle between the inner spar and the outer spar, wherein the control system comprises: an actuator configured to perform a raising motion of the inner spar by moving the inner spar in an upward direction and to perform a lowering motion of the inner spar by moving the inner spar in a downward direction; an angle sensor mounted in the wrist portion, and configured to measure the bending angle, which is the relative angle between the inner spar and the outer spar; and a control unit configured to control the actuator to move the inner spar in response to the measured bending angle of the angle sensor, wherein the outer spar is arranged to move in a passive manner by following the lowering and raising motion of the inner spar.