Efficient resonant drive of flapping-wing robots

Baek, Stanley; Kevin, Y.; Fearing, Ronald S.

doi:10.1109/iros.2009.5354725

Cited by 88 publications

(61 citation statements)

References 21 publications

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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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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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“…The bimorph cantilevered PZT driven actuator connected to a dual crank-slider transmission was selected as the most efficient adaptation of biological fliers. This complex biomechanical machine is most accurately simplified as a dual linear actuator model of the thoracic flight muscles, whose mechanical analog is a simple-crank slider mechanism [28,32,33,30,34,29,35]. Figure 7 illustrates a cross section cut-away of an indirect drive insect thorax, and how its biomechanical flapping mechanism is modeled as a simple mechanical model.…”

Section: Powerplant and Drive Trainmentioning

confidence: 99%

“…The function for ν i was integrated across the area of a circular arc, which is invariant, given by equation 35 below. (35) where A and B are the coefficients of the first order fit of the velocity vs. wing radial position line plot. The resultant expression for T¯is a function of the spanwise location, r, along the wing.…”

Section: Forces From Mean Velocitymentioning

confidence: 99%

An Experimental Investigation into the Effect of Flap Angles for a Piezo-Driven Wing

DeLuca¹,

Reeder

Cobb

2013

International Journal of Micro Air Vehicles

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This article presents a comparison of results from six degree of freedom force and moment measurements and Particle Image Velocimetry (PIV) data taken on the Air Force Institute of Technology's (AFIT) piezoelectrically actuated, biomimetically designed Hawkmoth, Manduca Sexta, class engineered wing, at varying amplitudes and flapping frequencies, for both trimmed and asymmetric flapping conditions to assess control moment changes. To preserve test specimen integrity, the wing was driven at a voltage amplitude 50% below the maximum necessary to achieve the maximal Hawkmoth total stroke angle. 86˚ and 65˚ stroke angles were achieved for the trimmed and asymmetric tests respectively. Flapping tests were performed at system structural resonance, and at ±10% off system resonance at a single amplitude, and PZT power consumption was calculated for each test condition. Two-dimensional PIV visualization measurements were taken transverse to the wing planform, recorded at the mid-span, for a single frequency and amplitude setting, for both trimmed and asymmetric flapping to correlate with the 6-DoF balance data. Linear velocity data was extracted from the 2-D PIV imagery at ± 1/2 and ±1 chord locations above and below the wing, and the mean velocities were calculated for four separate wing phases during the flap cycle. The mean forces developed during a flap cycle were approximated using a modification of the Rankine-Froude axial actuator disk model to calculate the transport of momentum flux as a measure of vertical thrust produced during a static hover flight condition. Values of vertical force calculated from the 2-D PIV measurements were within 20% of the 6-DOF force balance experiments. Power calculations confirmed flapping at system resonance required less power than at off resonance frequencies, which is a critical finding necessary for future vehicle design considerations.= balance moment in y-direction I or V rms = root mean square current/voltage P = mean power u = x-direction velocity w = z-direction velocity INTRODUCTIONThe confluence between biologists and engineers over the past 10-20 years have produced considerable research into the aerodynamics and flight mechanisms responsible for insect flight. Research, mainly from biologists, has revealed these amazing fliers develop more lift than their wings alone can generate through a standard aerodynamic static, or quasi-static treatment; meaning the additional lift is generated through the complex interaction of the flapping motion of the wings and the surrounding fluid medium. It is the study of this aerodynamic phenomenon, its characterization, and its particular application to the AFIT Flapping Wing Micro Air Vehicle (FWMAV) program, which is the topic of this research effort. With all the remarkable discoveries, and the litany of impressive military and civilian aircraft developed over the past 100 years, it was not until the last two decades that aerodynamicists have earnestly investigated the flight physics of nature's smallest fliers-insects. To ...

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“…The flapping frequencies of insects are inversely proportional to their size because many insects flap at the resonant frequencies of muscles, wings, and thorax systems to fly efficiently. Recently, many researchers have focused on this feature and resonant-driven flapping robots have been developed [4]- [6]. However, the resonant frequencies of these robots are relatively high and it is difficult to find appropriate actuators that can drive the wings at low voltage using an on-board small battery and generate sufficient torque and stroke at high frequency range.…”

Section: Introductionmentioning

confidence: 99%

Study on Resonant-Driven Flapping-Wing Robot

et al. 2013

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Abstract-This paper describes a non-tethered flapping robot with resonant-driven wings. We proposed a wing with a thin plate that can be resonated at a low frequency using a small battery mounted on the robot. The thrust force generated by the proposed wings at their resonant frequency was 35 percent larger than that of non-resonant wings. Moreover, the non-tethered robot with four wings was developed for free flight. The phase difference between fore and hind wings was varied from 0 to 180 degrees. The robot with the phase difference of 0 and 90 degrees successfully made a level flight.Index Terms-Flapping-wing robot, Resonant drive, Bio-inspired robot, Thrust force.I.

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Efficient resonant drive of flapping-wing robots

Cited by 88 publications

References 21 publications

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

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

An Experimental Investigation into the Effect of Flap Angles for a Piezo-Driven Wing

Study on Resonant-Driven Flapping-Wing Robot

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