Under-actuated bionic hummingbird flapping wing aircraft based on redundant drive technology

The invention relates to the technical field of bionic robots, and discloses an under-actuated bionic hummingbird flapping-wing aircraft based on a redundant drive technology, which comprises a pair of direct current brushless motors, a pair of linear steering engines; the pair of direct-current brushless motors is mounted on the cage type supporting rack; the multi-stage speed reducing mechanism is connected with the direct-current brushless motor and is mounted on the cage type supporting rack; and the linear transmission mechanism is connected with the multi-stage speed reducing mechanism, is mounted on the cage type supporting rack, and is connected with a wing assembly. The whole prototype is an under-actuated dynamics system based on redundant drive and comprises a pair of direct-current brushless motors, the same gear is driven to rotate together, power of the direct-current brushless motors is combined into one power motor for use, and under-actuated control over the ornithopter is achieved through tw