本研究是以壓電陶瓷PZT雙層薄片型致動器作為拍翅式微飛行器(Flapping Micro Air Vehicle)的致動源，設計一個以模仿拍翼飛行生物為基礎之壓電致動拍翅機構(Flapping Mechanism)，並且利用簡易的升力量測裝置量測各種不同參數的翅膀所產生的升力值。進一步分析探討不同的翅膀形態對於微拍翅機構所產生之升力的影響。
首先我們在前言中探討文獻裡各種拍翅機構之優缺點，並依照實驗要求設計微飛行器之傳動機構；再利用複合材料製成之撓性接頭特性完成拍翅機構及機身的實作。最後驅動PZT致動器觀察其拍翅效果，並討論製作微型拍翅機構的要點及改良過程，然後再搭配各種不同勁度的翅膀配合適當比重的翅痣，歸納出拍翼攻角(angle of attack)、撲翼頻率(wing beat frequency)、翅痣(pterostigma)等相關參數與升力及推進力之間的關係。對日後研究分析壓電拍翅機構與翅膀之設計製作提供了可行參考的方法及分析。

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目錄...........................................................................I
表目錄.....................................................................III
圖目錄 ....................................................................IV
符號說明.................................................................VI
摘要........................................................................VII
第一章 緒論 .............................................................1
1. 1 研究動機 ..........................................................2
1. 2 研究背景與文獻回顧 ......................................3
1. 2. 1 研究背景 ......................................................3
1. 2. 2 參考文獻 ......................................................8
1. 3 拍翅飛行原理簡介...........................................9
1. 3. 1 飛行狀態區間 .............................................9
1. 3. 2 拍翅種類及基本原理 ...............................10
1. 3. 3 翅痣對飛行的影響....................................13
1. 4 本文研究基本架構........................................14
第二章 致動器的選擇與驅動設備.......................16
2. 1 致動器的選擇和評估 ...................................16
2. 2 PZT壓電陶瓷致動器之基本原理 ...............19
2. 2. 1 壓電材料基本介紹 ..................................19
2. 2. 2 壓電陶瓷致動器之型態及構造特性.......21
2. 3 PZT致動器固定以及電源訊號輸入方式 ...24
2. 4 壓電致動器驅動儀器設備與實驗系統 ......25
2. 5 本章小節.......................................... ............27
第三章 振翅模型之基本設計與改良.................28
3. 1 放大機構的選擇和評估 .............................28
3. 2 撓性接頭.......................................... ...........32
3. 2. 1 撓性接頭基本介紹 ................................ 33
3. 2. 2 傳統撓性接頭結構之討論..................... 34
3. 3 壓電致動拍翼式機構之實作...................... 35
3. 3. 1 放大機構實作..........................................35
3. 3. 2 機身結構製作..........................................36
3. 3. 3 翅膀的參數設定與製作 ........................ 37
3. 4 位移放大機構之放大效果..........................41
3. 5 拍翅機構的改良..........................................42
3. 6本章小結與製作建議 ..................................47
第四章 升推力量測實驗方法與結果討論.........49
4. 1 拍翅空氣動力學的基本理論...................... 49
4. 2 升力實驗之規劃與設計...............................53
4. 2. 1 升力量測裝置.......................................... 53
4. 2. 2 升力量測之計算.......................................55
4. 2. 3 升力實驗步驟與流程 ..............................56
4. 3 振翅頻率對升力之影響 ..............................57
4. 4 翅膀結構與翅痣對升力之影響 ..................62
4. 5 推力量測實驗方法與流程...........................69
4. 5. 1 推力實驗裝置設計與數值計算 ..............69
4. 5. 2 推力裝置實作與配置 ..............................70
4. 5. 3 推力實驗步驟與流程 ..............................71
4. 6 推力量測實驗之結果與討論.......................72
4. 7 小結...............................................................77
第五章 結論與建議..............................................78
參考文獻...............................................................81

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