Flexure Design Rules for Carbon Fiber Microrobotic Mechanisms

Avadhanula, S.; Fearing, Ronald S.

doi:10.1109/robot.2005.1570339

Cited by 28 publications

(20 citation statements)

References 13 publications

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“…There has been significant research into the creation and characterization of flexure-based micromechanical devices [26], and these design rules provide the basis for the creation of the transmission. These flexure mechanisms are also created using the SCM paradigm.…”

Section: B Transmissionmentioning

confidence: 99%

The First Takeoff of a Biologically Inspired At-Scale Robotic Insect

2008

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Abstract-Biology is a useful tool when applied to engineering challenges that have been solved in nature. Here, the emulous goal of creating an insect-sized, truly micro air vehicle is addressed by first exploring biological principles. These principles give insights on how to generate sufficient thrust to sustain flight for centimeter-scale vehicles. Here, it is shown how novel manufacturing paradigms enable the creation of the mechanical and aeromechanical subsystems of a microrobotic device that is capable of Diptera-like wing trajectories. The results are a unique microrobot: a 60 mg robotic insect that can produce sufficient thrust to accelerate vertically. Although still externally powered, this micromechanical device represents significant progress toward the creation of autonomous insect-sized micro air vehicles.

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Section: B Transmissionmentioning

confidence: 99%

The First Takeoff of a Biologically Inspired At-Scale Robotic Insect

2008

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“…The AFIT FWMAV's PZT and linkage drive train move in the same plane, aligned with the z-axis, which minimizes the number of moving joints, and provides for a robust testing architecture. Future flight vehicles, with miniaturized actuators, would require orienting the PZT 90°o ut-of-plane with the rest of the linkage assembly, in the longitudinal plane, along the vertical axis, which maximizes tip deflection, and therefore wing stroke angle, while minimizing the actuator tip strain, see [36,37,38].…”

Section: Powerplant and Drive Trainmentioning

confidence: 99%

An Experimental Investigation into the Effect of Flap Angles for a Piezo-Driven Wing

DeLuca¹,

Reeder

Cobb

2013

International Journal of Micro Air Vehicles

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This article presents a comparison of results from six degree of freedom force and moment measurements and Particle Image Velocimetry (PIV) data taken on the Air Force Institute of Technology's (AFIT) piezoelectrically actuated, biomimetically designed Hawkmoth, Manduca Sexta, class engineered wing, at varying amplitudes and flapping frequencies, for both trimmed and asymmetric flapping conditions to assess control moment changes. To preserve test specimen integrity, the wing was driven at a voltage amplitude 50% below the maximum necessary to achieve the maximal Hawkmoth total stroke angle. 86˚ and 65˚ stroke angles were achieved for the trimmed and asymmetric tests respectively. Flapping tests were performed at system structural resonance, and at ±10% off system resonance at a single amplitude, and PZT power consumption was calculated for each test condition. Two-dimensional PIV visualization measurements were taken transverse to the wing planform, recorded at the mid-span, for a single frequency and amplitude setting, for both trimmed and asymmetric flapping to correlate with the 6-DoF balance data. Linear velocity data was extracted from the 2-D PIV imagery at ± 1/2 and ±1 chord locations above and below the wing, and the mean velocities were calculated for four separate wing phases during the flap cycle. The mean forces developed during a flap cycle were approximated using a modification of the Rankine-Froude axial actuator disk model to calculate the transport of momentum flux as a measure of vertical thrust produced during a static hover flight condition. Values of vertical force calculated from the 2-D PIV measurements were within 20% of the 6-DOF force balance experiments. Power calculations confirmed flapping at system resonance required less power than at off resonance frequencies, which is a critical finding necessary for future vehicle design considerations.= balance moment in y-direction I or V rms = root mean square current/voltage P = mean power u = x-direction velocity w = z-direction velocity INTRODUCTIONThe confluence between biologists and engineers over the past 10-20 years have produced considerable research into the aerodynamics and flight mechanisms responsible for insect flight. Research, mainly from biologists, has revealed these amazing fliers develop more lift than their wings alone can generate through a standard aerodynamic static, or quasi-static treatment; meaning the additional lift is generated through the complex interaction of the flapping motion of the wings and the surrounding fluid medium. It is the study of this aerodynamic phenomenon, its characterization, and its particular application to the AFIT Flapping Wing Micro Air Vehicle (FWMAV) program, which is the topic of this research effort. With all the remarkable discoveries, and the litany of impressive military and civilian aircraft developed over the past 100 years, it was not until the last two decades that aerodynamicists have earnestly investigated the flight physics of nature's smallest fliers-insects. To ...

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“…Flexures are made with a custom process using thin-film polymers sandwiched between rigid composite plates [16]. Polymers are chosen for resilience and high elastic strain limit (allowing large motions with compact geometries) [18]. However, in this case, current needs to be passed through each flexure to power more distal actuators on adjacent segments.…”

Section: Flexure Designmentioning

confidence: 99%

Design, fabrication and analysis of a body-caudal fin propulsion system for a microrobotic fish

Cho

Hawkes

Quinn

et al. 2008

2008 IEEE International Conference on Robotics and Automation

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Abstract-In this paper, we present the design and fabrication of a centimeter-scale propulsion system for a robotic fish. The key to the design is selection of an appropriate actuator and a body frame that is simple and compact. SMA spring actuators are customized to provide the necessary work output for the microrobotic fish. The flexure joints, electrical wiring and attachment pads for SMA actuators are all embedded in a single layer of copper laminated polymer film, sandwiched between two layers of glass fiber. Instead of using individual actuators to rotate each joint, each actuator rotates all the joints to a certain mode shape and undulatory motion is created by a timed sequence of these mode shapes. Subcarangiform swimming mode of minnows has been emulated using five links and four actuators. The size of the four-joint propulsion system is 6mm wide, 40 mm long with the body frame thickness of 0.25mm.

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Flexure Design Rules for Carbon Fiber Microrobotic Mechanisms

Cited by 28 publications

References 13 publications

The First Takeoff of a Biologically Inspired At-Scale Robotic Insect

The First Takeoff of a Biologically Inspired At-Scale Robotic Insect

An Experimental Investigation into the Effect of Flap Angles for a Piezo-Driven Wing

Design, fabrication and analysis of a body-caudal fin propulsion system for a microrobotic fish

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