Wing Design and Testing for a Tailless Flapping Wing Micro-Air Vehicle

Oppenheimer, Michael W.; Sigthorsson, David O.; Doman, David B.; Weintraub, Isaac E.

doi:10.2514/6.2017-1271

Cited by 6 publications

(9 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Scotch-yoke [15] Yes Dexterity is required High (rotating in one direction) Crank-rocker [2,4,5,12] Yes Dexterity is required High (rotating in one direction)…”

Section: Mechanism Types Possibility Of Mechanical Wear Difficulty Ofmentioning

confidence: 99%

“…To enable successful working of FWMAVs, researchers have employed a variety of actuators such as DC motors [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19], piezoelectric actuators [20][21][22][23], electromagnetic actuators [24][25][26][27][28], and electrostatic actuators [6,29].…”

Section: Introductionmentioning

confidence: 99%

“…They proposed to use spherical type of double Scotch yoke to overcome drawbacks of the planar Scotch yoke. Oppenheimer et al and Sahai et al employed four-bar linkages to change the motor's rotating motion to the flapping motion [5,12]. Karasek et al and Wagter et al also made flapping mechanisms using crank-rocker four-bar linkages [2,4].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Miniature Flapping Mechanism Using an Origami-Based Spherical Six-Bar Pattern

2021

View full text Add to dashboard Cite

In this paper, we suggest a novel transmission for the DC motor-based flapping-wing micro aerial vehicles (FWMAVs). Most DC motor-based FWMAVs employ linkage structures, such as a crank-rocker or a crank-slider, which are designed to transmit the motor’s rotating motion to the wing’s flapping motion. These transmitting linkages have shown successful performance; however, they entail the possibility of mechanical wear originating from the friction between relative moving components and require an onerous assembly process owing to several tiny components. To reduce the assembly process and wear problems, we present a geometrically constrained and origami-based spherical six-bar linkage. The origami-based fabrication method reduces the number of the relative moving components by replacing rigid links and pin joints with facets and folding joints, which shortens the assembly process and reduces friction between components. The constrained spherical six-bar linkage enables us to change the motor’s rotating motion to the linear reciprocating motion. Due to the property that every axis passes through a single central point, the motor’s rotating motion is filtered at the spherical linkage and does not transfer to the flapping wing. Only linear motion, therefore, is passed to the flapping wing. To show the feasibility of the idea, a prototype is fabricated and analyzed by measuring the flapping angle, the wing rotation angle and the thrust.

show abstract

“…Scotch-yoke [15] Yes Dexterity is required High (rotating in one direction) Crank-rocker [2,4,5,12] Yes Dexterity is required High (rotating in one direction)…”

Section: Mechanism Types Possibility Of Mechanical Wear Difficulty Ofmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Miniature Flapping Mechanism Using an Origami-Based Spherical Six-Bar Pattern

2021

View full text Add to dashboard Cite

show abstract

“…A key feature that led to some of the first successful FWMAV flights is that the robot is minimally actuated to meet stringent size and weight constraints [26,39]. Although the dynamics are not T periodic, flapping wings are obtained by periodically varying actuation, such as piezoelectric, electromagnetic, or motor-drive mechanisms that control one or more wing states, such as the stroke angle, stroke-plane deviation, and angle of inclination referred to as wing pitch angle in this paper [5,8,[56][57][58][59][60][61]63,64]. In general, the actuator dynamics take the form g _ x w t; x w t; ut; p; T; t 0 (2)…”

Section: Problem Formulationmentioning

confidence: 99%

“…[59][60][61]. Furthermore, all methods can be easily extended to other flapping-wing configurations characterized by multiple wing pairs [62]; rigid tails [63]; and piezoelectric, electromagnetic, or motor-driven drive actuation [5,8,[56][57][58][59][60][61]63,64]. The full-envelope dynamic model is first validated experimentally for a broad range of RoboBee stable and unstable modes.…”

mentioning

confidence: 99%

Full Flight Envelope and Trim Map of Flapping-Wing Micro Aerial Vehicles

Clawson¹,

Ferrari²,

Helbling³

et al. 2020

Journal of Guidance, Control, and Dynamics

View full text Add to dashboard Cite

Controlling agile and complex air-vehicle maneuvers requires knowledge of the full flight envelope and dominant modes of motion. This paper presents a comprehensive approach for determining the full flight envelope and trim map of minimally actuated flapping-wing micro aerial vehicles that are capable of a broad range of coupled longitudinal-lateral-directional aerobatic maneuvers. By this approach, a representative set of realizable set points and trim conditions can be determined from the flight dynamic model, including asymmetric and unstable maneuvers. Data-driven dynamic mode decomposition is used to identify and analyze the dominant modes of motion both in simulations and physical experiments involving the RoboBee. The dominant eigenplanes and stability characteristics of this flapping-wing robot are successfully validated experimentally for both stable and unstable asymmetric full-envelope maneuvers, including rapidly uncontrolled tumbling.

show abstract

Modeling and control of flapping wing micro aerial vehicles

2019

View full text Add to dashboard Cite

Research in robots that emulate insect flight or micro aerial vehicles (MAV) has gained significant momentum in the past decade owing to the vast number of fields they could be employed in. In this paper, key modeling and control aspects of a flapping wing MAV in hover have been discussed. Models of varying complexity have been developed by previous researchers. Here, we examine the validity of key assumptions involved in some of these models in a closed-loop control setting. Every model has limitations and with proper design of feedback control these limitations can be overcome up to a certain degree. Three nonlinear models with increasing complexity have been developed. Model I includes only the rigid body dynamics while ignoring the wing dynamics while model II includes the rigid body dynamics along with the wing kinematics. Lastly, model III encompasses the complete rigid body and the rigid wing dynamics. To ensure these higher fidelity models can be rendered unnecessary with a suitably designed controller, a method is presented wherein the controller is designed for the simplest model and tested for its robustness on the more complex models. Linear quadratic regulator (LQR) is used as the main control system design methodology. A nonlinear parameter optimization algorithm is employed to design a family of LQR control systems for the MAV. Additionally, critical performance trade-offs are illuminated, and properties at both the plant output and input are examined. Lastly, we also provide specific rules of thumb for the control system design.

show abstract

Wing Design and Testing for a Tailless Flapping Wing Micro-Air Vehicle

Cited by 6 publications

References 20 publications

A Miniature Flapping Mechanism Using an Origami-Based Spherical Six-Bar Pattern

A Miniature Flapping Mechanism Using an Origami-Based Spherical Six-Bar Pattern

Full Flight Envelope and Trim Map of Flapping-Wing Micro Aerial Vehicles

Modeling and control of flapping wing micro aerial vehicles

Contact Info

Product

Resources

About