Design and evaluation of a deformable wing configuration for economical hovering flight of an insect-like tailless flying robot

Phan, Hoang Vu

doi:10.1088/1748-3190/aab313

Cited by 35 publications

(24 citation statements)

References 88 publications

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“…Several insect-inspired artificial wings have been reported [19][20][21][22][23] , and the artificial wing used in this paper is designed to imitate the wing of drone-fly Eristalis tenax in similar size and shape [24] . The artificial wing is made from 1.5 µm thick polyester as the membrane and 60 µm thick carbon fiber as the veins and root to realize high modulus and light weight.…”

Section: Wingsmentioning

confidence: 99%

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

et al. 2020

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Inspired 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.

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Section: Wingsmentioning

confidence: 99%

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

et al. 2020

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“…27 Effect of vein structures on force generation and power requirement was also investigated previously. 28…”

Section: Flapping-wing Mechanismmentioning

confidence: 99%

KUBeetle-S: An insect-like, tailless, hover-capable robot that can fly with a low-torque control mechanism

Phan

Aurecianus

Kang

2019

International Journal of Micro Air Vehicles

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For an insect-like tailless flying robot, flapping wings should be able to produce control force as well as flight force to keep the robot staying airborne. This capability requires an active control mechanism, which should be integrated with lightweight microcontrol actuators that can produce sufficient control torques to stabilize the robot due to its inherent instability. In this work, we propose a control mechanism integrated in a hover-capable, two-winged, flapping-wing, 16.4 g flying robot (KUBeetle-S) that can simultaneously change the wing stroke-plane and wing twist. Tilting the stroke plane causes changes in the direction of average thrust and the wing twist distribution to produce control torques for pitch and roll. For yaw (heading change), root spars of left and right wings are adjusted asymmetrically to change the wing twist during flapping motion, resulting in yaw torque generation. Changes in wing kinematics were validated by measuring wing kinematics using three synchronized high-speed cameras. We then performed a series of experiments using a six-axis force/torque load cell to evaluate the effectiveness of the control mechanism via torque generation. We prototyped the robot by integrating the control mechanism with sub-micro servos as control actuators and flight control board. Free flight tests were finally conducted to verify the possibility of attitude control.

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“…Accordingly, the analysis and synthesis of real motion of flying objects can be found, for example, in articles [14; 15]. Various studies on the kinematics of insects in terms of flight efficiency and optimization issues can be found, for example, in [16].…”

Section: Introductionmentioning

confidence: 99%

Soaring motion of vibrating drive object in fluid

Kovals

Eiduks

Spade

et al. 2021

20th International Scientific Conference Engineering for Rural Development Proceedings

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The authors' research on the application of vibrating motors in technology, technologies and everyday life is continued. Unlike previous studies on the movement of an object over the dry surface of another object, the movement in fluid (water, air) is analyzed here. The movement in the vertical plane of the object, which on the outside consists of a monolithic body with wide wings, is considered. Inside this first object is a vibrator or a second moving object controlled by mechatronics. A simplified movement of an object is considered, in which the rotation around the center of mass does not take place, which imposes additional rules for the synthesis of the system design. The motion is described by two second-order differential equations, which take into account:gravity interaction; -buoyancy or the Archimedes' principle; -the forces of interaction between the hull and the fluid, which depend on the square of the absolute speed of the translational movement of the hull; -similar wing interaction force; -law of relative motion control of vibrator; In addition, the possibility of mechatronic motion control by changing the angle of the wings towards the body has been used. The obtained differential equations are analyzed numerically at different internal vibrator motion laws. In addition, the soaring motion of the object, which depends on the control of the wing angle, as well as the additional motion of the fluid flow, have been studied. The research results are illustrated with phase coordinate graphs. The results obtained in the work can be used for the analysis, optimization and synthesis of new flying and soaring objects.

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Design and evaluation of a deformable wing configuration for economical hovering flight of an insect-like tailless flying robot

Cited by 35 publications

References 88 publications

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

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

KUBeetle-S: An insect-like, tailless, hover-capable robot that can fly with a low-torque control mechanism

Soaring motion of vibrating drive object in fluid

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