Towards flapping wing control for a micromechanical flying insect

Abstract

A 2 D 0 F res on an t t horax s t T U ct u re signed and fabricated for the MFI project. Miniature piezoelectric PZN-PT unimorph actuators were fabricated and used to drive a four-bar transmission mechanism. T h e current tho,rax design utilizes two actuated four-bars and a spherical joint t o drive a rigid wing. Rotationally compliant flexure joints have been tested with lifetimes over lo6 cycles. Wing spars were instrumented with strain gauges for force measurement and closed-loop wing control.

Attitude Control for a Micromechanical Flying Insect via Sensor Output Feedback

“…It can be driven parasitically from the wing vibrations when it is placed on the thorax of the MFI. The thorax structure consists of mechanically amplifying fourbar structures actuated by piezoelectric actuators to drive the MFI wings [2] [23] [3] (see Figure 7). Second, the haltere has a large dynamic range.…”

Halteres for the micromechanical flying insect

“…This method has the benefits of not only being simple to construct, but also this structure has the ability to be driven parasitically from the body vibrations of the MFI. The second method places the haltere on the output link of a fourbar mechanism driven by a piezoelectric actuator, similar to the method used to drive the MFI wing as described in [3], [9], [11].…”

“…Instead of driving the haltere from a vibrating structure, it is placed on the output link of a mechanically amplifying fourbar structure. The fourbar takes the small linear displacement of the actuator and transforms this into large angles at the output [3], [11]. This technique gives better control over the motion of the haltere, allowing for large stroke amplitudes at high resonant frequencies.…”

“…Commercial and military applications for micro-robotic devices have been identified including operations in hazardous environments, search-and-rescue within collapsed buildings, reconnaissance and surveillance, etc.. Although several groups have worked on MAVs based on fixed and rotary wings [6], flapping flight provides superior maneuverability that would be beneficial in obstacle avoidance and for navigation in small spaces [11].…”

“…The overall structure of the MFI has been designed and some components have been built and tested [3], [10], [11]. As with real insects, angular rotation detection by the sensory system of the MFI is important for stabilizing flight.…”