scholarly journals A Note on the Electromechanical Design of a Robotic Hummingbird

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 52
Author(s):  
André Preumont ◽  
Han Wang ◽  
Shengzheng Kang ◽  
Kainan Wang ◽  
Ali Roshanbin
Keyword(s):  
Sensitivity Analysis ◽  
Heat Generation ◽  
Production System ◽  
Lift Force ◽  
Flight Time ◽  
Flapping Wing ◽  
Wing Size ◽  
Dc Motors ◽  
In Series ◽  
Discharge Model

This paper analyzes the lift-production system in hovering of the flapping wing robot COLIBRI of the size of a hummingbird. The paper first examines the flapping wing mechanism for which a new gear transmission is proposed to reduce the friction and facilitate the assembly. Next, a sensitivity analysis is performed on the wing size. Then, the paper discusses several options for the gearbox, various DC motors and two battery configurations (a single battery or two batteries in series) to minimize the heat generation and increase the flight time. The configuration involving two batteries has been found more effective. The flight time is predicted using Shepherd’s discharge model and it is confirmed by an experiment. The robot sustains an endurance of nearly 5 min to produce a lift force equal to the weight of the robot.

Parameter Sensitivity Analysis of a Large-Scale System With Several Components Interacting in Series

1989 ◽  
Author(s):  
H. Torab
Keyword(s):  
Sensitivity Analysis ◽  
Large Scale ◽  
Optimization Problems ◽  
Parameter Sensitivity ◽  
Engineering Optimization ◽  
Parameter Sensitivity Analysis ◽  
Large Scale Systems ◽  
In Series ◽  
Special Case ◽  
Engineering Optimization Problems

Abstract Parameter sensitivity for large-scale systems that include several components which interface in series is presented. Large-scale systems can be divided into components or sub-systems to avoid excessive calculations in determining their optimum design. Model Coordination Method of Decomposition (MCMD) is one of the most commonly used methods to solve large-scale engineering optimization problems. In the Model Coordination Method of Decomposition, the vector of coordinating variables can be partitioned into two sub-vectors for systems with several components interacting in series. The first sub-vector consists of those variables that are common among all or most of the elements. The other sub-vector consists of those variables that are common between only two components that are in series. This study focuses on a parameter sensitivity analysis for this special case using MCMD.

scholarly journals Optimal Allocation of Reliability in Series Parallel Production System

10.5772/55725 ◽  
2013 ◽  
Author(s):  
Rami Abdelkader ◽  
Zeblah Abdelkader ◽  
Rahli Mustapha ◽  
Massim Yamani
Keyword(s):  
Production System ◽  
Optimal Allocation ◽  
In Series

Design of a Foldable Flapping Mechanism

2013 ◽  
Vol 437 ◽  
pp. 366-372
Author(s):  
Xiao Zhou Fan ◽  
Zhi Lin Zhang ◽  
Liang Chen
Keyword(s):  
Lift Force ◽  
Virtual Prototype ◽  
Flapping Wing ◽  
Optimal Parameters ◽  
Cam Mechanism ◽  
Set Up ◽  
3D Software ◽  
Flapping Mechanism

Folding motion is important for a flight creature using flapping wing mode, but it seldom used for flapping-wing robot. In this paper, we propose a new foldable flapping wing mechanism, which consists of spatial crank-rocker mechanism, parallelogram mechanism, and cam mechanism. We establish the kinematical models, calculate the optimal parameters, and set up the virtual prototype using 3D software. The tracks of wingtip and the comparison between foldable and unfoldable flap wing show that folding motion can improve lift force obviously.

Lift Force Control of Flapping-Wing Microrobots Using Adaptive Feedforward Schemes

2013 ◽  
Vol 18 (1) ◽  
pp. 155-168 ◽  
Author(s):  
N. O. Pérez-Arancibia ◽  
J. P. Whitney ◽  
R. J. Wood
Keyword(s):  
Force Control ◽  
Lift Force ◽  
Flapping Wing ◽  
Adaptive Feedforward

Lift force control of a flapping-wing microrobot

2011 ◽  
Author(s):  
Nestor O. Perez-Arancibia ◽  
John P. Whitney ◽  
Robert J. Wood
Keyword(s):  
Force Control ◽  
Lift Force ◽  
Flapping Wing

Integrating Solar Cells Into Flapping Wing Air Vehicles for Enhanced Flight Endurance

2016 ◽  
Vol 8 (5) ◽  
Author(s):  
Ariel Perez-Rosado ◽  
Hugh A. Bruck ◽  
Satyandra K. Gupta
Keyword(s):  
Solar Cells ◽  
Solar Energy ◽  
Electrical Power ◽  
Similar Rate ◽  
Flight Time ◽  
Flapping Wing ◽  
The Body ◽  
Wing Area ◽  
Materials Used ◽  
The Impact

Flapping wing aerial vehicles (FWAVs) may require charging in the field where electrical power supply is not available. Flexible solar cells can be integrated into wings, tail, and body of FWAVs to harvest solar energy. The harvested solar energy can be used to recharge batteries and eliminate the need for external electrical power. It can also be used to increase the flight time of the vehicle by supplementing the battery power. The integration of solar cells in wings has been found to alter flight performance because solar cells have significantly different mechanical and density characteristics compared to other materials used for the FWAV construction. Previously, solar cells had been successfully integrated into the wings of Robo Raven, a FWAV developed at the University of Maryland. Despite changes in the aerodynamic forces, the vehicle was able to maintain flight and an overall increase in flight time was achieved. This paper investigates ways to redesign Robo Raven to significantly increase the wing area and incorporate solar cells into the wings, tail, and body. Increasing wing area allows for additional solar cells to be integrated, but there are tradeoffs due to the torque limitations of the servomotors used to actuate the wings as well changes in the lift and thrust forces that affect payload capacity. These effects were modeled and systematically characterized as a function of the wing area to determine the impact on enhancing flight endurance. In addition, solar cells were integrated into the body and the tail. The new design of Robo Raven generated a total of 64% more power using on-board solar cells, and increased flight time by 46% over the previous design. They were also able to recharge batteries at a similar rate to commercial chargers.

A Systematic Exploration of Wing Size on Flapping Wing Air Vehicle Performance

2015 ◽  
Author(s):  
John Gerdes ◽  
Hugh A. Bruck ◽  
Satyandra K. Gupta
Keyword(s):  
System Design ◽  
Flapping Wing ◽  
Wing Size ◽  
Vehicle Performance ◽  
Trade Offs ◽  
Systematic Exploration ◽  
Maximum Payload ◽  
Air Vehicle ◽  
Payload Capacity ◽  
Improved Performance

The design of a flapping wing air vehicle is dependent on the interaction of drive motors and wings. In addition to the wing shape and spar arrangement, sizing and flapping kinematics affect vehicle performance due to wing deformation resulting from flapping motions. To achieve maximum payload and endurance, it is necessary to select a wing size and flapping rate that will ensure strong performance and compatibility with drive motor capabilities. Due to several conflicting trade-offs in system design, this is a challenging problem. We have conducted an experimental study of several wing sizes at multiple flapping rates to build an understanding of the design space and ensure acceptable vehicle performance. To support this study, we have designed a new custom test stand and data post-processing procedure. The results of this study are used to build a design methodology for flapping wing air vehicles with improved performance and to highlight system design challenges and strategies for mitigation. Using the methodology described in this paper, we have developed a new flapping wing air vehicle called the Robo Raven II. This vehicle uses larger wings than Robo Raven and flight tests have confirmed that Robo Raven II has a higher payload capacity.

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