蜂鳥是世界上最小的鳥類之一，僅分佈於美洲，並以其非凡的飛行能力而聞名。與大多數鳥類不同，蜂鳥能夠向後飛行、懸停在空中，並進行快速而靈活的動作，類似於昆蟲的飛行特徵。這些獨特的飛行特性激發了大量研究和技術開發，旨在複製其複雜的振翅動力學。
在本研究中，我們設計並製造了一種創新的振翅機器人，旨在逼真模擬蜂鳥的主要飛行機制。這款機器人配備了先進的振翅系統，具備兩個自由度以進行精確的力測量，使其能夠控制俯仰和偏航運動。
我們研究中的一項關鍵創新是開發了一種新型控制機構——偏心球機構，該機構能夠精確調節翅膀的旋轉角度。此機構增強了機器人模擬蜂鳥細微翅膀運動的能力，這對於其獨特的飛行模式至關重要。為了進一步完善我們的模型，我們使用高速攝像機實時捕捉翅膀的旋轉角度。
通過這個先進的機器人模型，我們旨在深入了解蜂鳥的飛行動力學，並探索在空中機器人等領域中的潛在應用，在這些領域中，靈活性、精確性和穩定性至關重要。

The hummingbird, one of the smallest bird species in the world, is found exclusively in the Americas and is renowned for its extraordinary flight capabilities. Unlike most birds, hummingbirds can fly backward, hover in place, and perform rapid, agile maneuvers, much like insects. These unique flight characteristics have inspired numerous studies and technological developments aimed at replicating their complex flapping-wing dynamics.
In this research, we have designed and constructed a pioneering flapping-wing robot that seeks to closely emulate the primary flight mechanism of a hummingbird. This robot is equipped with a sophisticated flapping-wing system that incorporates two degrees of freedom for precise force measurement, enabling it to control both pitch and yaw movements.
A key innovation in our research is the development of a novel control mechanism—an eccentric ball mechanism—that precisely regulates the angle of wing rotation. This mechanism enhances the robot's ability to replicate the nuanced wing movements of a hummingbird, which are crucial for its distinctive flight patterns. To further refine our model, we employ high-speed cameras to capture the wing rotation angle in real-time.
Through this advanced robotic model, we aim to deepen our understanding of hummingbird flight dynamics and explore potential applications in areas such as aerial robotics, where agility, precision, and stability are paramount.

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