| 摘要 |
PROBLEM TO BE SOLVED: To provide an internally driven flapping propeller drive mechanism rationally operative with high reliability, and its control method. SOLUTION: A driving arm 2 constituted by connecting a plurality of drive units with curve function is provided in an elastic wing part 1 to flap the elastic wing part 1 by the driving arm 2. A plurality of aerofoil frames 3 are laterally provided at specified spaces in the elastic wing part 1, and a plurality of skeleton units 5 are provided between a plurality of aerofoil frames 3 so as to connect them. The skeleton unit 5 is composed of a lateral pair of unit pieces 5A, 5A bendably connected at the middle through a joint 8 at the middle of the adjacent aerofoil frames 3, 3. Corresponding to the respective skeleton units 5, a plurality of driving elements 9 of expansive structure are provided between a plurality of aerofoil frames so as to connect them. The skeleton units 5 are bent by expansively driving the driving elements 9 to flap the elastic wing part 1.
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