In the present study, we have developed a smart flapping wing with a MFC (macro-fiber composites) actuator. To mimic the flying mechanisms of nature’s flyers such as birds or insects, the aerodynamic characteristics related to the birds and ornithopters are investigated. To measure the aerodynamic forces of flapping devices, a test stand consisting of two loadcells is manufactured, and the dyna...

This paper discusses a methodology of analyzing the flight dynamic stability of a flapping wing Micro Air Vehicle (MAV) in hover. The flexible flapping wings are modeled by a strain-based geometrically nonlinear beam formulation, coupled with an empirical aerodynamic formulation for load calculation on the wings surfaces. Wing flapping kinematics is described using a set of Euler angles. Nonlin...

The aerial environment in the operating domain of small-scale natural and artificial flapping wing fliers is highly complex, unsteady and generally turbulent. Considering flapping flight in an unsteady wind environment with a periodically varying lateral velocity component, we show that body rotations experienced by flapping wing fliers result in the reorientation of the aerodynamic force vecto...

Here we explain how flapping micro air vehicles (MAVs) can be designed at different scales, from bird to insect size. The common believe is that micro fixed wing airplanes and helicopters outperform MAVs at bird scale, but become inferior to flapping MAVs at the scale of insects as small as fruit flies. Here we present our experience with designing and building micro flapping air vehicles that ...

Flapping wing vehicles, or ornithopters, have proven difficult to control due to the unsteady flow generated by the high-speed flapping surfaces. To-date, research has focused on computational models from which fixed flapping strokes are optimized. These strokes are then fixed and executed open-loop in practice with flapping speed as the primary control output for climb and descent. This paper ...

Research in the field of Flapping Wing Micro Air Vehicle (FMAV) is an ongoing quest to master the natural flyers by mechanical means. The field is characterized by unsteady aerodynamics, whose knowledge is still developing. Birds and insects have different methods of producing lift and thrust for hovering and forward flight. Most birds, however, cannot hover. Wing tips of birds follow simple pa...

This paper focuses on the design, fabrication and characterization of unimorph actuators for a microaerial flapping mechanism. PZT-5H and PZN-PT are investigated as piezoelectric layers in the unimorph actuators. Design issues for microaerial flapping actuators are discussed, and criteria for the optimal dimensions of actuators are determined. For low power consumption actuation, a square wave ...

The basis of this work was to understand the generation of lift and thrust of a flapping biwing ornithopter, which is influenced by its geometrical, dynamic, kinematic and aerodynamic features by following a generic approach in order to identify and mimic the mechanisms. As further development of earlier work, three-dimensional rigid thin wing is considered in flapping and pitching motion using...

In this paper, the energetics of a flapping wing micro air vehicle is analyzed with the objective of design of flapping wing air vehicles. The salient features of this study are: (i) design of an energy storage mechanism in the air vehicle similar to an insect thorax which stores part of the kinetic energy of the wing as elastic potential energy in the thorax during a flapping cycle; (ii) inclu...

Analysis and Control of Flapping Flight: from Biological to Robotic Insects by Luca Schenato Doctor of Philosophy in Engineering Electrical Engineering and Computer Sciences University of California at Berkeley Professor Shankar S. Sastry, Chair This dissertation explores flapping flight as an effective form of locomotion for unmanned micro aerial vehicles (MAVs). Flapping flight is analyzed fr...