Wing force map characterization and simulation for the micromechanical flying insect
نویسندگان
چکیده
The first force map has been generated for a 2 DOF wing designed for the MFI project. For the wing beating at a resonance frequency of 139 Hz, the average 3-D forces were found as a function of sinusoidal voltage amplitude and actuator phase difference. An image sequence of the wing trajectory allowed comparison to simulated forces using a quasi-steady state aerodynamic approximation. Finally, the results were compared to the case of ideally matched leading/lagging wing dynamics driven by sinusoids.
منابع مشابه
Hovering Flight Control of a Micromechanical Flying Insect
This paper describes recent results on the design and simulation of a flight control strategy for the Micromechanical Flying Insect (MFI), a 10-25mm (wingtip-to-wingtip) device capable of sustained autonomous flight. Biologically inspired by the real insect flight maneuver, the wing kinematics are paremetrized by a small set of parameters which are sufficient to generate desired average torques...
متن کاملTowards flapping Wing Control for a Micromechanical Flying Insect
A 2 DOF resonant thorax structure has been designed and fabricated for the MFI project. Miniature piezoelectric PZN-PT unimorph actuators were fabricated and used to drive a four-bar transmission mechanism. The current thorax design utilizes two actuated four-bars and a spherical joint to drive a rigid wing. Rotationally compliant flexure joints have been tested with lifetimes over 10 cycles. W...
متن کاملModel identification and attitude control for a micromechanical flying insect including thorax and sensor models
This paper describes recent developments on the model identification and attitude control system for a Micmmechanical Flying lnsect (MFI). We include recently developed dynamical models for the thorax actuatom and various sensor models. Wing kinematic parameterization scheme was designed to generate feasible wing motions to decouple the body torques under the constraints of the thorax model. A ...
متن کاملPZT Actuated Four-Bar Mechanism with Two Flexible Links for Micromechanical Flying Insect Thorax
In this paper, a four-bar mechanism with two flexible links is proposed to be used in a micromechanical flying insect robot wing thorax design for stroke amplification. PZT5H and PZN-PT based unimorph actuators are utilized at the input link of the four-bar. The kinematics and dynamics of the proposed wing strcuture with two parallel four-bar mechanisms are analyzed, and DC forces generated at ...
متن کاملFlight force measurements for a micromechanical flying insect
Key to the success of the micromechanical flying insect project is developing sensors for flight force measurement. At the lowest level of MFI control is the wing control system which will rely on wing and thorax mounted force sensors. These sensors will have the dual function of stroke by stroke force characterization and system identification as well as use in feedback control for all levels....
متن کامل