Modelling and Simulation of a Flapping Wing Mechanism Driven by a Brushless Servo Motor

2010 ◽  
Author(s):  
Jin Xie ◽  
Yong Chen
Keyword(s):  
Nonlinear Dynamic System ◽  
Input Voltage ◽  
Flapping Wing ◽  
Phase Lag ◽  
Servo Motor ◽  
Flapping Motion ◽  
Runge Kutta Method ◽  
Air Vehicle ◽  
And Control ◽  
The Relationship

Flapping wing mechanism is designed to generate flapping motion for a micro air vehicle. Some issues concerning with the design and control of flapping wing mechanism are discussed in this paper. Firstly the problem of phase-lag between two wings is treated. To eliminate phase-lag, a method of modifying the design is proposed. Then, motion controlling of a flapping wing mechanism by means of changing the voltage inputted to servo motor is studied. Based on Lagrange’s formulation and Kirchhoff’s voltage law, motion equation for a servo motor coupled to flapping wing mechanism is established. Fourth-order Runge-Kutta method is employed to integrate this equation. For the purpose of finding the relationship between the flapping motion and the input voltage, a response diagram obtained from simulation of the system is utilized. A crucial voltage VC is obvious in the response diagram. If the input voltage is lower than VC, the mechanism will settle at its fixed point, only when the input voltage is higher than VC, can the mechanism work in order. Both to find all fixed points and to analyze their stability for a complex nonlinear dynamic system are difficult tasks. A numerical method to deal with these difficulties is proposed. The results of simulation also show that the flapping frequency increases with the increasing of input voltage provided that the input voltage is higher than VC.

Design of “Figure-8” Spherical Motion Flapping Wing for Miniature UAV

2009 ◽  
Author(s):  
Zohaib Rehmat ◽  
Jesse Roll ◽  
Joon S. Lee ◽  
Woosoon Yim ◽  
Mohamed B. Trabia
Keyword(s):  
Experimental Testing ◽  
Flapping Wing ◽  
Servo Motor ◽  
Flapping Motion ◽  
Experimental Prototype ◽  
Wing Motion ◽  
Air Vehicle ◽  
Spherical Motion

Hummingbirds and some insects exhibit a “Figure-8” flapping motion, which allows them to undergo variety of maneuvers including hovering. It is therefore desirable to have miniature air vehicle (FWMAV) with this wing motion. This paper presents a design of a flapping-wing for FWMAV that can mimic “Figure-8” motion using a spherical four bar mechanism. In the proposed design, the wing is attached to a coupler point on the mechanism, which is driven by a DC servo motor. A prototype is fabricated to verify that the design objectives are met. Experimental testing was conducted to determine the validity of the design. The results indicate good correlation between model and experimental prototype.

Flight Characteristics of Flapping Wing Miniature Air Vehicles With “Figure-8” Spherical Motion

2009 ◽  
Author(s):  
Mohamed B. Trabia ◽  
Woosoon Yim ◽  
Zohaib Rehmat ◽  
Jesse Roll
Keyword(s):  
Mathematical Model ◽  
Wind Tunnel ◽  
Experimental Testing ◽  
Flapping Wing ◽  
Dynamic Stall ◽  
Wind Tunnel Testing ◽  
Servo Motor ◽  
Aerodynamic Forces ◽  
Flapping Motion ◽  
Spherical Motion

Hummingbirds and some insects exhibit “Figure-8” flapping motion that allows them to go through a variety of maneuvers including hovering. Understanding the flight characteristics of Figure-8 flapping motion can potentially yield the foundation of flapping wing UAVs that can experience similar maneuverability. In this paper, a mathematical model of the dynamic and aerodynamic forces associated with Figure-8 motion generated by a spherical four bar mechanism is developed. For validation, a FWMAV prototype with the wing attached to a coupler point and driven by a DC servo motor is created for experimental testing. Wind tunnel testing is conducted to determine the coefficients of flight and the effects of dynamic stall. The wing is driven at speeds up to 12.25 Hz with results compared to that of the model. The results indicate good correlation between mathematical model and experimental prototype.

scholarly journals A Sub-100 mg Electromagnetically Driven Insect-inspired Flapping-wing Micro Robot Capable of Liftoff and Control Torques Modulation

2020 ◽  
Vol 17 (6) ◽  
pp. 1085-1095
Author(s):  
Chenyang Wang ◽  
Weiping Zhang ◽  
Yang Zou ◽  
Ran Meng ◽  
Jiaxin Zhao ◽  
...  
Keyword(s):  
Input Voltage ◽  
Flapping Wing ◽  
Total Weight ◽  
Voltage Amplitude ◽  
Torque Measurement ◽  
Electromagnetic Actuators ◽  
Aerodynamic Model ◽  
Micro Robot ◽  
The Mean ◽  
And Control

AbstractInspired by the unique, agile and efficient flapping flight of insects, we present a novel sub-100 mg, electromagnetically driven, tailless, flapping-wing micro robot. This robot utilizes two optimized electromagnetic actuators placed back to back to drive two wings separately, then kinematics of each wing can be independently controlled, which gives the robot the ability to generate all three control torques of pitch, roll and yaw for steering. To quantify the performance of the robot, a simplified aerodynamic model is used to estimate the generated lift and torques, and two customized test platforms for lift and torque measurement are built for this robot. The mean lift generated by the robot is measured to be proportional to the square of the input voltage amplitude. The three control torques are measured to be respectively proportional to three decoupled parameters of the control voltages, therefore the modulation of three control torques for the robot is independent, which is helpful for the further controlled flight. All these measured results fit well with the calculated results of the aerodynamic model. Furthermore, with a total weight of 96 mg and a wingspan of 3.5 cm, this robot can generate sufficient lift to take off.

Geometric Design of a Bio-Inspired Flapping Wing Mechanism Based on Bennett-Derived 6R Deployable Mechanisms

2014 ◽  
Author(s):  
Huang Hailin ◽  
Li Bing
Keyword(s):  
Flapping Wing ◽  
Geometric Design ◽  
Geometric Parameters ◽  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Flapping Motion ◽  
Single Degree ◽  
Revolute Joints ◽  
Air Vehicle ◽  
Deployable Mechanism

In this paper, we present the concept of designing flapping wing air vehicle by using the deployable mechanisms. A novel deployable 6R mechanism, with the deploying/folding motion of which similar to the flapping motion of the vehicle, is first designed by adding two revolute joints in the adjacent two links of the deployable Bennett linkage. The mobility of this mechanism is analyzed based on a coplanar 2-twist screw system. An intuitive projective approach for the geometric design of the 6R deployable mechanism is proposed by projecting the joint axes on the deployed plane. Then the geometric parameters of the deployable mechanism can be determined. By using another 4R deployable Bennett connector, the two 6R deployable wing mechanisms can be connected together such that the whole flapping wing mechanism has a single degree of freedom (DOF).

The Design of New Mechanism of Birdlike MAV

2012 ◽  
Vol 229-231 ◽  
pp. 470-473
Author(s):  
Hai Zhou Zhai
Keyword(s):  
Angular Velocity ◽  
Flapping Wing ◽  
Micro Air Vehicle ◽  
Flapping Motion ◽  
Folding Angle ◽  
Air Vehicle ◽  
Aerodynamic Property ◽  
Kinematic Performance

MAV- Micro Air Vehicle which acts like bird has attracted many studies because of outstanding aerodynamic property. Former studies on birdlike MAV with flapping wing had just focused on the flapping motion, but passed over the change of flapping angular velocity and deformation of wing, therefore lost the good aerodynamic capacity. One new mechanism of the birdlike MAV is designed and studied. The mechanism can bring out 3 motions at one time, including flapping, spanning and twisting, so has movement as bird. The kinematic performance including the flapping angle, flapping angular velocity, and the folding angle etc., has been studied and compared with other relative works. The design can help the birdlike aircraft into reality.

scholarly journals Towards Bio-Inspiration, Development, and Manufacturing of a Flapping-Wing Micro Air Vehicle

Drones ◽  
2020 ◽  
Vol 4 (3) ◽  
pp. 39
Author(s):  
P. Lane ◽  
G. Throneberry ◽  
I. Fernandez ◽  
M. Hassanalian ◽  
R. Vasconcellos ◽  
...  
Keyword(s):  
Aerodynamic Force ◽  
Force Production ◽  
Flight Test ◽  
Flapping Wing ◽  
Micro Air Vehicle ◽  
Air Vehicle ◽  
Successful Design ◽  
The Stability ◽  
And Control ◽  
The Impact

Throughout the last decade, there has been an increased demand for intricate flapping-wing drones with different capabilities than larger drones. The design of flapping-wing drones is focused on endurance and stability, as these are two of the main challenges of these systems. Researchers have recently been turning towards bioinspiration as a way to enhance aerodynamic performance. In this work, the propulsion system of a flapping-wing micro air vehicle is investigated to identify the limitations and drawbacks of specific designs. Each system has a tandem wing configuration inspired by a dragonfly, with wing shapes inspired by a bumblebee. For the design of this flapping-wing, a sizing process is carried out. A number of actuation mechanisms are considered, and two different mechanisms are designed and integrated into a flapping-wing system and compared to one another. The second system is tested using a thrust stand to investigate the impact of wing configurations on aerodynamic force production and the trend of force production from varying flapping frequency. Results present the optimal wing configuration of those tested and that an angle of attack of two degrees yields the greatest force production. A tethered flight test is conducted to examine the stability and aerodynamic capabilities of the drone, and challenges of flapping-wing systems and solutions that can lead to successful flight are presented. Key challenges to the successful design of these systems are weight management, force production, and stability and control.

Design of a Bio-Inspired Spherical Four-Bar Mechanism for Flapping-Wing Micro Air-Vehicle Applications

2008 ◽  
Author(s):  
Matt McDonald ◽  
Sunil K. Agrawal
Keyword(s):  
Three Dimensional ◽  
Micro Air Vehicles ◽  
Aerodynamic Performance ◽  
Flapping Wing ◽  
Micro Air Vehicle ◽  
Aerodynamic Forces ◽  
Flapping Motion ◽  
Wing Motion ◽  
Air Vehicle ◽  
Flapping Mechanism

Design of flapping-wing micro air-vehicles presents many engineering challenges. As observed by biologists, insects and birds exhibit complex three-dimensional wing motions. It is believed that these unique patterns of wing motion create favorable aerodynamic forces that enable these species to fly forward, hover, and execute complex motions. From the perspective of micro air-vehicle applications, extremely lightweight designs that accomplish these motions of the wing, using just a single, or a few actuators, are preferable. This paper presents a method to design a spherical four-bar flapping mechanism that approximates a given spatial flapping motion of a wing, considered to have favorable aerodynamics. A spherical flapping mechanism was then constructed and its aerodynamic performance was compared to the original spatially moving wing using an instrumented robotic flapper with force sensors.

Generic Theoretical and Experimental Development of Micro Aerial Vehicle Using Fundamental Principles

2014 ◽  
Vol 564 ◽  
pp. 110-117
Author(s):  
Harijono Djojodihardjo ◽  
Muljo Widodo Kartidjo
Keyword(s):  
Leading Edge ◽  
Micro Air Vehicles ◽  
Flapping Wing ◽  
Theoretical Development ◽  
Phase Lag ◽  
Test Bed ◽  
Experimental Development ◽  
New Variant ◽  
Air Vehicle ◽  
Air Vehicles

Flapping Wing Micro Air Vehicles (FWMAV) and Quad-Rotor Micro Air Vehicles (QRMAV) are strategic for many applications, applications, ranging from control device test bed to perform difficult tasks as well as to perform surveillance mission to unreachable places. While salient features and functional significance of the various components in the flying bio-systems can be synthesized into a simplified and generic and simplified model of a flapping Bi-Wing and Quad-Wing Ornithopter; Quad-Rotor Micro Air Vehicle could be utilized for developing emerging Personal Air Vehicle (PAV) technologies. Theoretical development of Bio-Inspired Bi-Wing and Quad-Wing Flapping Wing Micro Air Vehicles is outlined by considering the motion of a three-dimensional rigid and thin wing in flapping and pitching motion with phase lag. Basic Unsteady Aerodynamic Approach incorporating viscous effect and leading-edge suction is utilized. Theoretical and experimental development of a new variant of Quad-Rotor Micro Air Vehicles is also outlined. The theoretical development of these potential MAVs is carried out using a first principle approach starting from the Euler-Newton equations of motion.

Characteristics of Dynamic Forces Generated by a Flapping Butterfly

2013 ◽  
Author(s):  
Taichi Kuroki ◽  
Masaki Fuchiwaki ◽  
Kazuhiro Tanaka ◽  
Takahide Tabata
Keyword(s):  
Flow Field ◽  
Vortex Ring ◽  
Elastic Deformation ◽  
Micro Air Vehicles ◽  
Flapping Wing ◽  
Flapping Motion ◽  
Insect Wings ◽  
Dynamic Forces ◽  
The Relationship ◽  
Significant Attention

Many studies on the mechanism of butterfly flight have been carried out. A number of recent studies have examined the flow field around insect wings. Moreover, Micro-air-vehicles and micro-flight robots that mimic the flight mechanisms of insects have attracted significant attention, and a number of MAVs and micro-flight robots that use various devices have been reported. However, these robots were not practical. One of the reasons for this is that the flying mechanism of insects has not yet been clarified sufficiently. The present authors developed a flapping-wing robot without tail wings and focused on the flow field around the wings created by the flapping motion and its elastic deformation. In the present study, we attempt to clarify the relationship between the vortex ring over the wing and the dynamic lift generated by the flapping wing. The dynamic lift becomes large rapidly in the downward flapping and reaches a maximum at a flapping angle of −30 deg. After the maximum, the dynamic lift decreases gradually and the dynamic lift in upward flapping is approximately constant. The growth of the vortex ring formed by the flapping wing was clarified to contribute significantly to the dynamic lift acting on the butterfly. We should consider the interaction of both vortex ring both in downward flapping and in upward flapping in order to estimate the dynamic lift exactly using the circulation of the vortex ring.

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