Compliant design for flapping mechanism: A minimum torque approach

Khatait, Jitendra P.; Mukherjee, Sudipto; Seth, B.

doi:10.1016/j.mechmachtheory.2005.06.002

Cited by 36 publications

(17 citation statements)

References 24 publications

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“…The peak value of the output torque becomes minimal close to Ω = 1.0, where the system is excited at its resonant frequency. This plot agrees with the results of the minimal torque approach studied by Khatait et al [12]. In their study, they have demonstrated that there is a certain value of torsional stiffness of flexural joints corresponding to the driving frequency that minimizes the peak input torque.…”

Section: A Case I: Constant Speedsupporting

confidence: 90%

“…However, for heavily loaded structures, motor velocity will not be constant without a speed controller, which takes active power for deceleration. Another related result considers minimizing peak torque [12], [14], which improves motor sizing, yet does not consider the effects of the battery resistance. We show that under certain loading conditions, the battery and motor resistance will influence the time average power required.…”

Section: Introductionmentioning

confidence: 99%

“…Khatait et al [12] demonstrated a mechanism that minimized the maximum torque requirement of the DC motor by optimizing the compliant elements of the structure [12]. Tantanawat and Kota [19] proposed integrating distributed compliance to reduce the peak input power requirement of the DC motor on a flapping mechanism.…”

Section: Introductionmentioning

confidence: 99%

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Efficient resonant drive of flapping-wing robots

Baek

Kevin

Fearing

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Flapping-wing air vehicles can improve efficiency by running at resonance to reduce inertial costs of accelerating and decelerating the wings. For battery-powered, DC motordriven systems with gears and cranks, the drive torque and velocity is a complicated function of battery voltage. Hence, resonant behavior is not as well defined as for flapping-wing systems with elastic actuators. In this paper, we analyze a resonant drive to reduce average battery power consumption for DC motor-driven flapping-wing robots. We derive a nondimensionalized analysis of the generic class of a motor-driven slider crank, considering motor and battery resistance. This analysis is used to demonstrate the benefits of efficient resonant drive on a 5.8g flapping-wing robot and experiments showed a 30% average power reduction by integrating a tuned compliant element.

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Section: A Case I: Constant Speedsupporting

confidence: 90%

Section: Introductionmentioning

confidence: 99%

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Efficient resonant drive of flapping-wing robots

Baek

Kevin

Fearing

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Numerous studies have investigated nonlinear modeling of FWMAVs, frequently with attention to design and optimization of elastic elements which allow a flapping system to be driven at resonance, thus reducing or eliminating the inertial cost associated with accelerating and decelerating the wing [8], [9], [10], [11], [12]. However, such studies typically focus on the addition of a spring element to an existing MAV system, without consideration for redesigning actuators, linkages or wings.…”

Section: Introductionmentioning

confidence: 99%

System identification and linear time-invariant modeling of an insect-sized flapping-wing micro air vehicle

Finio¹,

Perez-Arancibia²,

Wood³

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Flapping-wing robots typically include numerous nonlinear elements, such as nonlinear geometric and aerodynamic components. For an insect-sized flapping-wing micro air vehicle (FWMAV), we show that a linearized model is sufficient to predict system behavior with reasonable accuracy over a large operating range, not just locally around the linearization state. The theoretical model is verified against an identified model from a prototype robotic fly and implications for vehicle design are discussed.

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“…For evaluating the capability of robot manipulators and design optimization, it is necessary to establish the buffering indices. Relative researches [20,21] show that the intrinsic property of buffering of a manipulator can be realized by elasticity elements such as spring, elastic linkages and joints. Recent research also shows that the manipulators with time-varying topology can also realize the buffering effect by transferring the impulse into kinetic energy inside the robot manipulators [22].…”

Section: Introductionmentioning

confidence: 99%

Energy Distribution Index for robot manipulators and its application to buffering capability evaluation

Wang

Zhao

Chen

et al. 2011

Sci. China Technol. Sci.

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This paper proposes an approach to evaluate the performance of robot manipulator from the view of energy analysis. Based on the dynamics analysis of the manipulator, the Energy Distribution Index (EDI) is defined to depict the energy increment contribution of its subsystem to the whole manipulator. EDI is applied to the evaluation of the buffering capability of the manipulator working under unpredictable and heavy external loads. A series of buffering indices, the Static Buffering Index (SBI), Kineto-Static Buffering Index (KBI), Dynamic Buffering Index (DBI), and Global Buffering Index (GBI) are proposed to evaluate the buffering capability under different conditions. In order to acquire higher calculation accuracy, the general stiffness mapping of manipulators considering the actuator stiffness, inertia of the manipulator, damping, as well as elasticity of linkages is developed. Three different robot manipulators are studied as evaluation cases, in which the buffering structures are mechanism with variable topology, linear springs, and the elasticity of linkages respectively. The case studies show that the indices based on energy analysis have the advantage of coordinate free and are effective for buffering capability evaluation. robot manipulator, performance evaluation, energy analysis, stiffness mapping Citation:Wang H, Zhao K, Chen G L, et al. Energy Distribution Index for robot manipulators and its application to buffering capability evaluation.

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Compliant design for flapping mechanism: A minimum torque approach

Cited by 36 publications

References 24 publications

Efficient resonant drive of flapping-wing robots

Efficient resonant drive of flapping-wing robots

System identification and linear time-invariant modeling of an insect-sized flapping-wing micro air vehicle

Energy Distribution Index for robot manipulators and its application to buffering capability evaluation

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