Abstract: Multi-wing hovering and gliding flapping Micro Air Vehicles (“MAV”) are disclosed. The MAV can have independent wing control to provide enhance energy efficiency and high maneuverability. Power to each wing can be controlled separately by varying the amplitude of the wing flapping, the frequency of the wing flapping, or both. The flapping frequency can be controlled such that it is at or near the natural frequency of the wings for improved energy efficiency. The wings can be controlled by a gear train, coil-magnet arrangement or many other actuation systems that enable variable frequency flapping, variable amplitude flapping, or a combination of both. The gear train mechanism provides gyroscopic stability during flight. The wing flapping can include a rotation, or feathering motion, for improved efficiency. The wings can be transitioned between flapping flight and fixed wing flight to enable gliding and hovering in a single configuration.

Abstract: The wing flapping mechanism (100) includes a main frame (110), a pair of opposite wings (120) laterally projecting from the main frame (110), and a linkage arrangement to convert rotation of a motor (150) into a three-dimensional cyclic wing motion of each of the wings (120). The linkage arrangement includes torque-transmitting couplings extending from inside the main frame (110) into the wing structures (122) to transmit an alternating pivoting motion, created as a result of the rotation of the motor (150), to the distal end of a corresponding third torsion-responsive tube (140, 144??). Each torque-transmitting coupling extends inside a shoulder joint (130), a first torsion-responsive tube (132, 144?), an elbow joint (134), a second torsion-responsive tube (136, 144?), a wrist joint (138) and the third torsion-responsive tube (140, 144??) of the corresponding wing structure (122).

Abstract: An underwater vehicle includes a fore-body and a flexible aft. The flexible aft includes a flexible body. The flexible body includes a spring body including a spring element extending along a main axis, and a cavity. Related apparatus, systems, techniques, and articles are also described.

Abstract: A flapping flying robot including a body with a longitudinal side extending in a front to back direction, a left wing and a right wing respectively including a left front frame and a right front frame, base ends of the left and right front frames rotatably attached to a front side of the body, and a flapping structure mounted on an upper side of the body, the flapping structure powered by a rotary drive source, the flapping structure rotating the left and right front frames and thereby flapping the left and right wings and a duration of an upstroke of the left and right wings flapped by the flapping structure is shorter than a duration of a downstroke of the left and right wings to generate a lift force.

Abstract: A remote controlled hovering toy figure having a propulsion system, a control system, a winged body, and a wing actuation assembly. The winged body is mounted to the propulsion system, which is controlled by the control system. The wing actuation assembly is mounted to the winged body, and the wing actuation assembly is powered by the control system. The wing actuation assembly drives the wings in an oscillating flapping motion. The wings comprise apertures permitting air to pass through the wing, thus reducing the aerodynamic effect of the flapping motion. In this manner, the wings produce a softened “bouncing” flight action, thus creating a realistic flight motion. In another embodiment, the propulsion system comprises one or more rotors in a coaxial arrangement, and a rotor mast housing in the shape of a rider riding the hovering toy figure.

Abstract: A flying toy capable of moving by flapping of wings includes an actuation mechanism, for the wings, comprising a crank drive rotated by a means providing the driving force, two flexible wings arranged symmetrically with respect to the vertical plane of symmetry of the toy and connected, at the wing bases, to the actuation mechanism. The wing bases are mounted oscillating about axes arranged on both sides of the vertical plane of symmetry of the toy. The toy includes a control means, that receives a control signal indicating a left turn, increases the tension on the right wing and reduces it on the left wing. For a right turn, the opposite action is performed.

Abstract: A method of controlling wing position and velocity for a flapping wing air vehicle provides six-degrees-of-freedom movement for the aircraft through a split-cycle constant-period frequency modulation with wing bias method that generates time-varying upstroke and downstroke wing position commands for wing planforms to produce nonharmonic wing flapping trajectories that generate non-zero, cycle averaged wing drag and alter the location of the cycle-averaged center of pressure of the wings relative to the center of gravity of the aircraft to cause horizontal translation forces, rolling moments and pitching moments of the aircraft.

Abstract: A flying toy capable of moving by flapping of wings includes an actuation mechanism, for the wings, comprising a crank drive rotated by a means providing the driving force, two flexible wings arranged symmetrically with respect to the vertical plane of symmetry of the toy and connected, at the wing bases, to the actuation mechanism. The wing bases are mounted oscillating about axes arranged on both sides of the vertical plane of symmetry of the toy. The toy includes a control means, that receives a control signal indicating a left turn, increases the tension on the right wing and reduces it on the left wing. For a right turn, the opposite action is performed.

Abstract: Disclosed is a flying toy capable of moving by flapping of wings. The flying toy comprises a support structure; an actuation mechanism, for the wings, arranged on the support structure and comprising a crank drive rotated by a means providing the driving force; and two flexible wings arranged symmetrically with respect to the vertical plane of symmetry of the toy and connected, at the wing bases, to the actuation mechanism, the aforementioned wing bases being mounted oscillating about axes arranged on both sides of the vertical plane of symmetry of the toy. A controller receives a control signal indicating a left turn, increases the tension on the right wing and reduces it on the left wing and, for a right turn, the opposite action is performed.

Abstract: The present invention provides a remote-controlled ornithopter capable of flying forward in the upright position, which includes X-shaped main wings? having opposite phases to offset moments applied to a fuselage of the ornithopter. The ornithopter includes the fuselage (100), the X-shaped main wings (200), which are provided on the front end of the fuselage, tail wings (300), which are provided on the medial portion or the rear end of the fuselage, and a tail rotor (400), which controls a direction in which the fuselage flies. The ornithopter further includes a drive unit (500), which operates the main wings, and a flight control unit (600), which has a receiver to receive a signal for controlling the drive unit and the tail rotor. The ornithopter further includes a remote controller (700), which transmits the signal for controlling the drive unit and the tail rotor to the receiver.

Abstract: An aircraft that is enabled to turn in a desired direction, and a method for controlling the flight direction of an aircraft, by employing differential drag on the respective wings. A control means that receives a control signal indicating a left turn increases the incidence angle on the left wing and reduces it on the right wing. For a right turn the opposite action is performed. The aircraft comprises airfoils that have increased drag as the incidence angle increases but have a generally constant lift.

Abstract: A flapping flying robot includes: a body 11 with a longitudinal side extending in a front-back direction; left and right wings 14, 15 respectively including left and right front frames 12, 13, base ends of the left and right frames 12, 13 rotatably attached to a front of the body; and a flapping means 24 flapping the left and right wings 14, 15, the means 24 including a crank 17 in the body 11 with a shaft extending in the front-back direction and rotatably driven in one direction by a rotary drive source 16, first and second crank rods 20, 23 rotatably connecting first and second supports 18, 21 of the crank 17 respectively to left and right connecting portions 19, 22 of the left and right frames 12, 13; wherein duration of upstrokes of the left and right wings 14, 15 is shorter than duration of downstrokes of the same to generate lift forces.

Abstract: The present invention provides a flapping apparatus with a large flapping angle. The flapping apparatus includes a frame, a drive motor, a slider, connection links, actuating links and wings. The frame includes I-shaped plates which face each other in parallel, and coupling rods which couple the opposite corners of the upper ends of the I-shaped plates to each other. The drive motor is fastened to the frame such that a rotating shaft thereof is disposed inside the frame. The slider includes lateral bars which are reciprocated upwards and downwards. The connection links are rotatably coupled at first ends thereof to both ends of the lateral bar. The actuating links are rotatably coupled at first ends thereof to second ends of the connection links. The actuating links are rotatably coupled at second ends thereof to the coupling rods. The wings are respectively attached to the upper surfaces of the actuating links.

Abstract: Disclosed is a flying toy capable of moving by flapping of wings. The flying toy comprises a support structure; an actuation mechanism, for the wings, arranged on the support structure and comprising a crank drive rotated by a means providing the driving force; and two flexible wings arranged symmetrically with respect to the vertical plane of symmetry of the toy and connected, at the wing bases, to the actuation mechanism, the aforementioned wing bases being mounted oscillating about axes arranged on both sides of the vertical plane of symmetry of the toy. A controller receives a control signal indicating a left turn, increases the tension on the right wing and reduces it on the left wing and, for a right turn, the opposite action is performed.

Abstract: The present invention provides a wing-flapping flying apparatus, which can fly by moving its wings similar to a bird hovering or flying in the air by flapping its wings. The wing-flapping flying apparatus comprises: a body; a rotating shaft rotatably joined to the body; driving means for rotating the rotating shaft; and wings reciprocated between two points and connected to the rotating shaft so as to be rotated together with the rotating shaft and to be relatively torsionally rotated with respect to the rotating shaft. The wing-flapping flying apparatus generates lift throughout an entire wing-flapping movement without generating lift only throughout the half of a wing-flapping movement or offsetting the generated lift by the other half of the wing-flapping movement. Therefore, the wing-flapping flying apparatus can provide not only a stable flight but also a softly hovering or ascending and descending flight.

Abstract: A decoy, typically used for hunting fowl, having a hollow body including a head, a tail and a pair of feet. The decoy includes a pair of wings mounted to the body of the decoy for multi-axis movement. A drive mechanism typically including an electric motor and a power source is positioned within the hollow body. A pair of crank members connect to the electric motor and extend outwardly from the body. A pair of link members connect the wings to the crank members whereby rotation of the crank members enables cyclic movement defined by up/down and fore/aft motion of the wings.

Abstract: An ornithopter having segmented, flapping wings and capable of bird-like flight. A main drive system provides flapping motion to the wings. Servo systems are provided for independently moving each wing forward and backward along a major axis of the aircraft fuselage, thereby providing a balance subsystem. A single servomechanism controls upward and downward direction of the wings thereby providing a center angle control subsystem. Two additional servo systems are provided to control a tail assembly that provides steering and other ancillary control functions. Each subsystem is controlled by a dedicated, onboard microcontroller. One embodiment of the aircraft is remotely controlled by a wireless data communication link. The aircraft may be constructed to resemble a natural bird, in both static appearance and flight characteristics. The aircraft may be scaled from model size to a full-size, passenger carrying aircraft.

Abstract: An new ornithopter is provided with an elongated body, wings extending laterally from the forward end of the elongated body, and a tail extending laterally from the rear end of the elongated body. In one embodiment, an elongated rotatable member is rotatably coupled at one end to the forward end of the body, and a mass is connected to the other end of the elongated rotatable member. The elongated rotatable member and the mass are rotated to drive the ornithopter. In another embodiment, a mass is coupled to the forward end of the elongated body, and the mass is moved laterally from one side of the elongated body to the other side of the elongated body to drive the ornithopter. The mass may be imparted with rotational and/or translational movement.

Abstract: A MEMS-based micro-unmanned vehicle includes at least a pair of wings having leading wing beams and trailing wing beams, at least two actuators, a leading actuator beam coupled to the leading wing beams, a trailing actuator beam coupled to the trailing wing beams, a vehicle body having a plurality of fulcrums pivotally securing the leading wing beams, the trailing wing beams, the leading actuator beam and the trailing actuator beam and having at least one anisotropically etched recess to accommodate a lever-fulcrum motion of the coupled beams, and a power source.

Abstract: A flapping apparatus includes a first disk rotated by a driving source, and a second disk that rotates in contact with a main surface of the first disk. The second disk is provided with first and second stoppers that limit its angle of rotation. When the stopper is in contact with the first disk, rotation of a wing shaft is caused only by the rotation of the first disk, and when the stoppers are not in contact with the first disk, rotation of the wing shaft is caused only by the rotation of the second disk.

Abstract: A drive assembly for a wing of a micromechanical flying insect. The drive assembly comprises a honey comb structure. A method for flying a micromechanical flying insect comprising moving a wing with a drive assembly having a stiffness to weight ratio greater than about 16×1010 N/mKg.

Abstract: A biomimetic pitching and flapping mechanism including a support member, at least two blade joints for holding blades and operatively connected to the support member. An outer shaft member is concentric with the support member, and an inner shaft member is concentric with the outer shaft member. The mechanism allows the blades of a small-scale rotor to be actuated in the flap and pitch degrees of freedom. The pitching and the flapping are completely independent from and uncoupled to each other. As such, the rotor can independently flap, or independently pitch, or flap and pitch simultaneously with different amplitudes and/or frequencies. The mechanism can also be used in a non-rotary wing configuration, such as an ornithopter, in which case the rotational degree of freedom would be suppressed.

Abstract: A flapping apparatus includes a first disk rotated by a driving source, and a second disk that rotates in contact with a main surface of the first disk. The second disk is provided with first and second stoppers that limit its angle of rotation. When the stopper is in contact with the first disk, rotation of a wing shaft is caused only by the rotation of the first disk, and when the stoppers are not in contact with the first disk, rotation of the wing shaft is caused only by the rotation of the second disk.

Abstract: An ornithopter with an airframe structure that is lightweight, simple and stable and can generate sufficient lift and thrust. The ornithopter comprises a body, a main wing attached to an upper portion of a front section of the body, and a tail wing attached to a rear section of the body. The ornithopter further comprises a power source and a power transmission mechanism installed within a housing of the body. The main wing includes a wing frame composed of a plurality of frame rods and a skin attached to the wing frame for forming an outline of the main wing. The wing frame of the main wing is supported by a support means exposed to the outside at the upper portion of the front section of the body. The power transmission mechanism includes a gear train for adjusting the rotational motion of the power source at a proper speed and transferring it to the main wing, and connecting rods for converting the rotational motion into a swing motion of the main wing.

Abstract: A compressed air engine and a flying object using the engine are disclosed. The flying object includes the following elements. That is, the compressed air engine includes: a top member 11 provided with an air inlet 16; an upper cylinder 12; a lower cylinder 13; a bottom member 14; an air pipe, for passing of a compressed air; a shuttle 20 for performing up/down movements within a cylinder formed by the upper and lower cylinders; and a pair of pistons 21a and 21b over and under the shuttle respectively. The pair of the wings are symmetrically and pivotally assembled to the shuttle and the lower cylinder through securing shafts so as to perform up/down movements in accordance with the up/down movements of the shuttle. A compressed air container 2 is assembled to the bottom of the bottom member, for storing the compressed air.

Abstract: The present invention relates to a winding device and a flying toy ornithopter device which employs the winding device. The flying toy ornithopter comprises a hollow body which simulates the appearance of a bird, insect or flying machine. A pair of wings are provided which oscillate, the wings are powered by the stored energy of a wound rubber band. One end of the rubber band is connected to a hook mounted in the tail of the hollow body, the other end of the rubber band is mounted to a winding device mounted near the head of the hollow body. The winding device comprises a frame which has a generally oval shape and conforms to the cross-sectional of the hollow body to mount therein, a central annular bore and a pair of lugs located at the periphery of the frame to which the wings are attached; a pin projects from the frame toward the front of the hollow body for the attachment of a locking lever.

Abstract: A novelty item having extending appendages which are supported by springs so as to impart life-like movement thereto.

Abstract: A novelty item having extending appendages which are supported by springs so as to impart life-like movement thereto.

Abstract: A novelty item having extending appendages which are supported by springs so as to impart life-like movement thereto.

Abstract: A novelty item having extending appendages which are supported by springs so as to impart life-like movement thereto.

Abstract: An ornithopter with an airframe structure that is lightweight, simple and stable and can generate sufficient lift and thrust. The ornithopter comprises a body, a main wing attached to an upper portion of a front section of the body, and a tail wing attached to a rear section of the body. The ornithopter further comprises a power source and a power transmission mechanism installed within a housing of the body. The main wing includes a wing frame composed of a plurality of frame rods and a skin attached to the wing frame for forming an outline of the main wing. The wing frame of the main wing is supported by a support means exposed to the outside at the upper portion of the front section of the body. The power transmission mechanism includes a gear train for adjusting the rotational motion of the power source at a proper speed and transferring it to the main wing, and connecting rods for converting the rotational motion into a swing motion of the main wing.

Abstract: A power-driven ornithopter piloted by a remote controller wherein a takeoff and landing motion, a climbing and descending motion, and a turning motion of the ornithopter can be controlled using the remote controller. The ornithopter comprises a body, a main wing attached to an upper portion of a front section of the body, and tail wings attached to a rear section of the body. An electric motor, a power transmission mechanism, a battery, first and second servo motors and a controller are installed within a housing of the body. A crank arm is connected to a rotating shaft of the first servo motor and a connecting rod attached to a free end of the crank arm is then pivotally connected to a lower edge of the horizontal tail support. The second servo motor is mounted into a recess formed at an upper side of a rectangular parallelepiped of the horizontal tail support and a rotating shaft of the second servo motor is disposed on a central axis of the horizontal tail.

Abstract: The fuselage or airframe is a solid, characterised as two-dimensional, plastic moulding. The flapping wings pivot at the inner ends both to a pin on the airframe. Connecting-rods go from the crankshaft to intermediate points on the wings. The various pivot connections are made by snapping resilient split sockets onto respective pins, so no tools or fasteners are needed. Designed thus, the aircraft can be manufactured in kit form, wherein all the required plastic components are formed together in a single injection, the components being detached for final assembly.

Abstract: The present invention to a flying object by flapping motion of two pair of wings, which comprises a compressed air engine, a flying body (or compressed air container) assembled with the compressed air engine and in which compressed air is contained, two pair of wings symmetrically assembled with the compressed air engine and functioning flapping motion up and dawn in the range of 70° while the individual wing being able to get twisted in the range of 15°, a head cover for covering the front and upper part of the compressed air engine, and a tail wing with a horizontal wing and a vertical wing.

Abstract: The fuselage or airframe is a solid, characterised as two-dimensional, plastic moulding. The flapping wings pivot at the inner ends both to a pin on the airframe. Connecting-rods go from the crankshaft to intermediate points on the wings. The various pivot connections are made by snapping resilient split sockets onto respective pins, so no tools or fasteners are needed. Designed thus, the aircraft can be manufactured in kit form, wherein all the required plastic components are formed together in a single injection, the components being detached for final assembly.

Abstract: A compressed air engine and a flying object using the engine are disclosed. The flying object includes the following elements. That is, the compressed air engine includes: a top member 11 provided with an air inlet 16; an upper cylinder 12; a lower cylinder 13; a bottom member 14; an air pipe, for passing of a compressed air; a shuttle 20 for performing up/down movements within a cylinder formed by the upper and lower cylinders; and a pair of pistons 21a and 21b over and under the shuttle respectively. The pair of the wings are symmetrically and pivotally assembled to the shuttle and the lower cylinder through securing shafts so as to perform up/down movements in accordance with the up/down movements of the shuttle. A compressed air container 2 is assembled to the bottom of the bottom member, for storing the compressed air.

Abstract: An ornithopter includes a fuselage, a wing flapping assembly, a tail control assembly, a tail and a pair of wings. The wing flapping assembly and the tail control assembly are each mounted on the fuselage. The tail is operably connected to the tail control assembly and the position thereof controls the direction of flight and the angle of lift. The wing flapping assembly may have a flapping mode and a glide mode and the wing flapping assembly may include a pawl which is engageable with a cam. In the flapping mode the pawl passes the cam and in the glide mode the pawl engages the cam. Each wing may include a generally triangular inner wing portion and a generally triangular outer wing portion. The outer wing portion may have a plurality of spaced apart battens extending between the diagonal stiffening member and the trailing edge.

Abstract: A walking insect that comprises a torso having a set of legs and wings attached thereto. Disposed within the torso is a battery and a rotating electric motor operative to vibrate the torso. The electric motor is attached to a counterbalance and tail cone such that when the counterbalance and tail cone are rotated, the insect vibrates thereby causing the legs to move and the insect to walk. The counterbalance is adjustable in order to amplify the vibration of the insect. The insect may be sold in kit form for assembly by children as an educational toy.

Abstract: A floatable structure propelling mechanism is combined with a floatable structure filled with helium gas to propel the floatable structure for flying in the air. The floatable structure propelling mechanism comprises a pair of lateral fins supported for swing motion respectively on the opposite sides of a middle portion of the floatable structure. The driving mechanism for driving the lateral fins for swing motion alternately in opposite direcitons in a vertical plane comprises a rotative driving unit provided near the lower surface of the middle portion of the floatable structure. The rotative driving unit includes a double crankshaft which is rotated by the driving unit, first connecting rods fixed to the lateral fins, respectively, and second connecting rods interconnecting the crank pin portions of the double crankshaft and the free ends of the first connecting rods, respectively.

Abstract: A toy glider is shown having a unitary wing formed of closed cell resin material disposed in a slot formed in a fuselage in which a weight is located to place the center of gravity of the glider at a point which, along with selected flexibility of the wing, produces a cyclical up and down flapping type of movement of the wings when placed in flight above a threshold velocity. The glider has no horizontal stabilizer and the fuselage has a force-receiving surface adapted to accommodate the distal portion of a person's finger.

Abstract: Process and apparatus providing the automatic locking of the wings of a wing-operated flying toy, wherein a locking device associated with the operating mechanism is applied, under the effect of elastic pressure, against a notch or slot of the circular disk of the draw crank of the operating mechanism, so that when an elastic band attains its normal power under the effect of torsional moment, the locking device is unable to engage or hold its position in the notch or slot; whereas when the power has almost attained its lowest value at the moment when the elastic band is almost completely untwisted, the locking device is able to engage and maintain itself in the slit causing the wing operating mechanism to lock and prevent movement of the wings.

Abstract: A toy airplane is launched; and an air flow deflecting surface is located in spaced relation to a V-shaped, swept-back wing of the airplane to deflect air flow generally upwardly toward the flight path of the airplane to aid in sustaining or balancing its flight. That surface is movable relative to the wing, and may be hand-held beneath the flying wing. In a modification, a separate stabilizer surface may be connected to the wing to dangle, forwardly thereof.

Abstract: A novel rubber band powered balloon is presented. No spine, frame, or other support member is used to resist the tension of the rubber band. Instead, the balloon, formed from a substantially non-elastomeric material, is sufficiently rigid when inflated such that supports for the rubber band can be directly connected to the balloon's outer skin. In addition, one embodiment of the present invention includes a novel flapping-vane propulsion system in which the rotational motion of the rubber band is converted into reciprocating motion of the vane.

Abstract: A flying toy which can move through the air by flapping its wings which consists of a body having at least one opening, at least one flexible wing connected to the body which can flap to move the flying toy through the air, and an elastic band for storing power for flapping the at least one flexible wing. The toy also includes an activation assembly connected to the elastic band for activating the flapping of the at least one flexible wing by the elastic band. The at least one oscillating wing base is secured to the at least one flexible wing through the at least one opening. The toy also includes a wind-up assembly for winding the elastic band and a latching assembly for neutralizing the activation assembly before the flying toy is released to fly. The latching assembly is constructed and arranged such that activation of the flying toy to cause flight can be accomplished using only one hand.