Passive Aerodynamic Drag Balancing in a Flapping-Wing Robotic Insect

Sreetharan, Pratheev S.; Wood, Robert J.

doi:10.1115/1.4001379

Cited by 23 publications

(15 citation statements)

References 12 publications

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“…The design suffered from dynamic coupling and was not able to lift its own weight [10]. More recently, our group demonstrated that an underactuated mechanism could passively compensate for fabrication errors that resulted in bilateral asymmetry (such as by wing damage) using a differential-like mechanism [11]. These examples show that passive elements have an important role in simplifying the control of the RoboBee.…”

Section: Introductionmentioning

confidence: 99%

A hovering flapping-wing microrobot with altitude control and passive upright stability

Teoh

Fuller

Chirarattananon

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-The Harvard RoboBee is the first insect-scale flapping-wing robot weighing less than 100 mg that is able to lift its own weight. However, when flown without guide wires, this vehicle quickly tumbles after takeoff because of instability in its dynamics. Here, we show that by adding aerodynamic dampers, we can can alter the vehicle's dynamics to stabilize its upright orientation. We provide an analysis using wind tunnel experiments and a dynamic model. We demonstrate stable vertical takeoff, and using a marker-based external camera tracking system, hovering altitude control in an active feedback loop. These results provide a stable platform for both system dynamics characterization and unconstrained active maneuvers of the vehicle and represent the first known hovering demonstration of an insect-scale flapping-wing robot.

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Section: Introductionmentioning

confidence: 99%

A hovering flapping-wing microrobot with altitude control and passive upright stability

Teoh

Fuller

Chirarattananon

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…3c) into the wing, similar to the approach taken by [1]. The complete design described in this paper has four degrees of freedom, a significant increase in dynamic complexity over the two degree of freedom system previously demonstrated in [5]. A single power actuator applies an oscillatory force, exciting motion in all four degrees of freedom through a variety of aerodynamic and inertial effects.…”

Section: Introductionmentioning

confidence: 88%

“…An invertible kinematic mapping relates q 1 and q 2 to φ R and φ L ; either pair of coordinates can be used to describe the configuration of the transmission. A more detailed description of this mechanism is available in [5].…”

Section: B the Drag Parity Transmissionmentioning

confidence: 99%

“…The differential fundamentally operates on wheel torques instead of rotations; aided by passive mechanisms, the wheels can rotate along complex relative trajectories, maintaining traction on the ground without closed loop active control. Previous work has introduced the concept of Passive Aeromechanical Regulation of Imbalanced Torques (PARITy) in the context of insect-scale FWMAV design [5]. Embodying the PARITy concept, the 'Drag PARITy' is an underactuated two degree of freedom FWMAV transmission that, analogous to an automobile differential, passively distributes power from a single actuator to balance torques delivered to two wings.…”

Section: Introductionmentioning

confidence: 99%

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Passive torque regulation in an underactuated flapping wing robotic insect

Sreetharan¹,

Wood²

2011

Auton Robot

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Abstract-Recent developments in millimeter-scale fabrication processes have led to rapid progress towards creating airborne flapping wing robots based on Dipteran (two-winged) insects. Previous work to regulate reaction forces and torques generated by two flapping wings has largely focused on wing trajectory control. An alternative approach introduces additional degrees of freedom to the wing flapping mechanism to passively regulate these forces and torques. The resulting 'mechanically intelligent' devices can execute wing trajectory corrections to realize desired body forces and torques without the intervention of an active controller.This paper describes an insect-scale flapping wing aeromechanical structure consisting of a piezoelectric bimorph power actuator, an underactuated transmission mechanism, and passively rotating wings. The transmission is designed to passively modulate wing stroke velocity to eliminate the net roll torque imparted to the airframe.The system is modeled as having four degrees of freedom driven open-loop by a single power actuator. The theoretical model predicts lift-generating wing trajectories as well as a passive reduction in roll torque experienced by the airframe. An at-scale structure constructed using Smart Composite Microstructure (SCM) fabrication techniques provides experimental support for the theoretical model.

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“…This setup was constructed for the simultaneous measurement of lift forces generated [1]. This particular design is described in [13] [14].…”

Section: B Experimental Setupmentioning

confidence: 99%

Lift force control of a flapping-wing microrobot

Pérez-Arancibia

Whitney

Wood

2011

Proceedings of the 2011 American Control Conference

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Abstract-This paper introduces a methodology for designing real-time controllers capable of enforcing desired trajectories on microrobotic insects in vertical flight and hovering. The main idea considered in this work is that altitude control can be translated into a problem of lift force control. Through analyses and experiments, we describe the proposed control strategy, which is fundamentally adaptive with some elements of model-based control. In order to test and explain the method for controller synthesis and tuning, a static single-wing flapping mechanism is employed in the collection of experimental data. The empirical results validate the suitability of the chosen approach.

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Passive Aerodynamic Drag Balancing in a Flapping-Wing Robotic Insect

Cited by 23 publications

References 12 publications

A hovering flapping-wing microrobot with altitude control and passive upright stability

A hovering flapping-wing microrobot with altitude control and passive upright stability

Passive torque regulation in an underactuated flapping wing robotic insect

Lift force control of a flapping-wing microrobot

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