Flying Robot with Undulating Wings

A novel moving structure with a flying rod and its principles was described. A front strut bar in this structure was driven to oscillate by the front motor. The oscillation of the strut bar then activated the motion fluctuations of a flexible undulating wing. The fluctuations of the flexible undulating wing led to a forward propulsion power and/or an upward force formed in air or in water. A geometric model was proposed to calculate the dynamic value of the force. A PLC was used to control the moving direction. The flyable structure with the undulating wings is expected for the application in the aircraft and, especially, in watercraft fields.