Bioinspired flapping wing UAV and its kinematic analysis—a novel approach

Abstract

A rich development in the domain of flapping wing Unmanned Aerial Vehicle (FWUAV) is not yet entirely sufficient to implement the findings of real-life situations. Using the limited knowledge of this domain, this work enlightens the scientific community by introducing a homegrown, patented flapping mechanism of foldable wing aerial vehicle. The synchronized dual wing flapping mechanism consists of a crank slotted lever, a gear train and a special type of 4 bar kinematic chain. The entire sets are powered by a DC motor through crank connected motor shaft. Flapping cycle works on quick return principle generated by crank slotted lever mechanism and foldable wing structure by the special type 4 bar chain with gear train ensure the controlled flapping frequency, twist angle, altitude gain and attitude parameters (Pitch, roll, yaw). This work majorly focuses on the kinematics of the developed bio mimic mechanism by observing the variation of flapping wing orientation, angular velocity and angular acceleration with respect to the crank rotation as well as different crank speeds. These analytically obtained kinematic parameters are further validated after developing a three-dimensional model of the said mechanism as well as multibody analysis by MSC ADAMS. The patterns of the kinematic parameters such that angular displacement, angular velocity and angular acceleration between output and input links are similar and its validation guarantees the correctness of developed mechanism. The kinematic analyzes of linkages are also essential for dynamic study as well as fabrication of prototype.

A Review of Flapping Mechanisms for Avian-Inspired Flapping-Wing Air Vehicles

“…Meanwhile, a study has been conducted to passively bend the wing using a compliant spine, and has a lighter and simpler wing structure compared to the rigid mechanism [67]. Dewangan et al [86] proposed a new concept of flexing mechanism using rigid linkages. Although it is still in the concept stage, it has the advantage of being able to increase lift while quickly folding using a crank slotted lever mechanism.…”

“…Similar to the aforementioned folding mechanism, the rigid mechanism enables easy implementation of the intended trajectory, but the compliant mechanism has the disadvantage of being difficult to implement the intended trajectory and may not be able to implement wrist flexing motion depending on the flight speed or operating environment. Dewangan et al [86] proposed a new concept of flexing mechanism using rigid linkages. Although it is still in the concept stage, it has the advantage of being able to increase lift while quickly folding using a crank slotted lever mechanism.…”