Multi-body simulation of a flapping-wing robot using an efficient dynamical model

Jahanbin, Zahra; Ghafari, Ali Selk; Ebrahimi, A.; Meghdari, Ali

doi:10.1007/s40430-015-0350-4

Cited by 22 publications

(20 citation statements)

References 18 publications

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“…The SimMechanics model presents the robot structure, the geometric and kinematic coherence of its components and translates this structural image into an internal equivalent mathematical model. Other researchers use this software as well [2,9,17]. Given that so far generally applicable method for this solution does not exist, here are listed the results of some studies in this area realized for the multi segment mechanisms, or anthropomorphic models using the static balance and centre of gravity, i.e.…”

Section: Mechanical Methods Of Motion Multistage Of the Mechanismmentioning

confidence: 99%

“…Step one is realized with the raising of the front right leg, while the support is on the front left, the hind left and the hind right leg (contact with the surface is at L 1 L 2 D 2 ). This is the case when a double-closed spatial kinematic chain is formed, 9 , D 2 determining the position of the body's stability. In the horizontal plane, this is shown through the stabilization triangle of movement, L 1 L 2 D 2 , as shown in Fig.…”

Section: Kinematics Solution To the Walk Of A Quadruped Robotmentioning

confidence: 99%

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Software modeling of multi-degree-of-freedom motion system using matrices

Mikić

Desnica

Radivojević

et al. 2017

J Braz. Soc. Mech. Sci. Eng.

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robot system, occupies a number of positions necessary to carry out the task. Thus the position of the mechanical system is determined by a set of internal coordinates that determine the movement of the joints. It is understood that the movement is a requirement that each of the coordinates governed by its law determines the position of the robot movement, through the so-called internal and external coordinates. It also determines the way of conversion of coordinates from one movement to another, or the application of equations to solve the kinematics problems of robots (robots determine the vector segments, segment positioning, angle and line speed, angle and line acceleration). The movement of the joints is achieved with the use of an motor, which allows only rotation movement. By applying the static equilibrium of the centrer of gravity of the robots, a part of the research of an anthropomorphic robot with 18 degrees of freedom, allowing the development of a mechatronic system, whose results allow the movement of the robot position in stages, is carried out. The largest part of the investigation described in the paper was performed on a computer, applying powerful software. Keywords Robot body step • Joint • The movement of the robot • The transformations matrix • Software modeling List of symbols r Position vector r i Position vector i-th segment r D Vector points D r (0) D Position vector of point D the immobile coordinate system r S i Joint position vector S i i-th segment r (0) S i Initial joint position vector S i the immobile coordinate system r (0) S n Vector sum of the joint segments S n

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Section: Mechanical Methods Of Motion Multistage Of the Mechanismmentioning

confidence: 99%

Section: Kinematics Solution To the Walk Of A Quadruped Robotmentioning

confidence: 99%

Software modeling of multi-degree-of-freedom motion system using matrices

Mikić

Desnica

Radivojević

et al. 2017

J Braz. Soc. Mech. Sci. Eng.

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“…Where 1  is the first folding angle of the wing, that is also the included angle of the inner and middle section of wings. 2  is the second folding angle of flapping wing, that is also the included angle of the middle and outer section of wings. c is the constant of the relationship between the first and second folding angles.…”

Section: Analysis Model Of Three-section Flapping Wingmentioning

confidence: 99%

“…In cruising state, the wing angle in the three-section flapping wing is 1 0   o , 2 . In this range, drag coefficient of the three-section wing is basically equal to the two-section wing.…”

Section: T S mentioning

confidence: 99%

“…In flapping wing aircraft, flapping wing mechanism is the core part of the performance of the aircraft. The simplest single-section flapping wing mechanism can not fold and can only achieve the basic flapping motion, including the single crank double rocker mechanism [2] and so on. The existing single-section flapping wing mechanisms have many problems, such as asymmetric motion process [3], poor flight stability [4], poor bionics, etc.…”

Section: Introductionmentioning

confidence: 99%

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Aerodynamic Analysis of Three-Section Flapping Wing by Numerical Simulation

Hua¹,

Hou²,

Zhu³

2018

Proceedings of the 2018 8th International Conference on Manufacturing Science and Engineering (ICMSE 2018)

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Three-section flapping wing is a new kind of bionic wing, which had better bionic performance compared to existing single-section and two-section wings. In order to realize it, on the basis of single drive mode, a novel mechanism was designed that can realize both flapping and double folding motions. Based on it, analytical and aerodynamic models of three-section flapping wing mechanism were established. Three kinds of typical flight conditions were selected to calculate the aerodynamic changes of three-section and two-section wings. The results show that the mechanism meets the requirements of bionic design. Compared with other flapping wings, the three-section flapping wing mechanism can achieve dexterous and efficient bionic movements and also has better bionic kinetic characteristics and aerodynamic performance.

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