1
|
Addo-Akoto R, Han JS, Han JH. Leading-edge curvature effect on aerodynamic performance of flapping wings in hover and forward flight. BIOINSPIRATION & BIOMIMETICS 2024; 19:056007. [PMID: 38955342 DOI: 10.1088/1748-3190/ad5e50] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/11/2024] [Accepted: 07/02/2024] [Indexed: 07/04/2024]
Abstract
This study investigates the role of leading-edge (LE) curvature in flapping wing aerodynamics considering hovering and forward flight conditions. A scaled-up robotic model is towed along its longitudinal axis by a rack gear carriage system. The forward velocity of the robotic model is changed by varying the advance ratioJfrom 0 (hovering) to 1.0. The study reveals that the LE curvature has insignificant influence on the cycle-average aerodynamic lift and drag. However, the time-history lift coefficient shows that the curvature can enhance the lift around the middle of downstroke. This enhanced lift is reduced from 5% to 1.2% asJchanged from 0 to 1.0. Further flow examinations reveal that the LE curvature is beneficial by enhancing circulation only at the outboard wing sections. The enhanced outboard circulation is found to emanate from the less stretched leading-edge vortices (LEVs), weakened trailing-edge vortices (TEVs), and the coherent merging of the tip vortices (TVs) with the minor LEVs as observed from the phase-lock planar digital particle image velocimetry measurements. The far-wake observation shows that the LE curvature enhances the vorticity within the TV, helping to reduce the overall flow fluctuations in the far field. These findings can be extended to explain the predominantly straight LE wing shape with a small amount of curvature only observed near the wing tip for flapping fliers with Re from 103to 104.
Collapse
Affiliation(s)
- Reynolds Addo-Akoto
- Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Yuseong-gu, Daejeon, Republic of Korea
| | - Jong-Seob Han
- Chungnam National University, Daejeon 34134, Republic of Korea
| | - Jae-Hung Han
- Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Yuseong-gu, Daejeon, Republic of Korea
| |
Collapse
|
2
|
Li Y, Li K, Fu F, Li Y, Li B. The Functions of Phasic Wing-Tip Folding on Flapping-Wing Aerodynamics. Biomimetics (Basel) 2024; 9:183. [PMID: 38534868 DOI: 10.3390/biomimetics9030183] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/27/2023] [Revised: 03/14/2024] [Accepted: 03/14/2024] [Indexed: 03/28/2024] Open
Abstract
Insects produce a variety of highly acrobatic maneuvers in flight owing to their ability to achieve various wing-stroke trajectories. Among them, beetles can quickly change their flight velocities and make agile turns. In this work, we report a newly discovered phasic wing-tip-folding phenomenon and its aerodynamic basis in beetles. The wings' flapping trajectories and aerodynamic forces of the tethered flying beetles were recorded simultaneously via motion capture cameras and a force sensor, respectively. The results verified that phasic active spanwise-folding and deployment (PASFD) can exist during flapping flight. The folding of the wing-tips of beetles significantly decreased aerodynamic forces without any changes in flapping frequency. Specifically, compared with no-folding-and-deployment wings, the lift and forward thrust generated by bilateral-folding-and-deployment wings reduced by 52.2% and 63.0%, respectively. Moreover, unilateral-folding-and-deployment flapping flight was found, which produced a lateral force (8.65 mN). Therefore, a micro-flapping-wing mechanism with PASFD was then designed, fabricated, and tested in a motion capture and force measurement system to validate its phasic folding functions and aerodynamic performance under different operating frequencies. The results successfully demonstrated a significant decrease in flight forces. This work provides valuable insights for the development of flapping-wing micro-air-vehicles with high maneuverability.
Collapse
Affiliation(s)
- Yiming Li
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots, Harbin Institute of Technology, Shenzhen 518055, China
- Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen 518055, China
- School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
| | - Keyu Li
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots, Harbin Institute of Technology, Shenzhen 518055, China
- Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen 518055, China
- School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
| | - Fang Fu
- College of Art and Design, Shenzhen University, Shenzhen 518060, China
| | - Yao Li
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots, Harbin Institute of Technology, Shenzhen 518055, China
- Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen 518055, China
- School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
| | - Bing Li
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots, Harbin Institute of Technology, Shenzhen 518055, China
- Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen 518055, China
- School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
| |
Collapse
|
3
|
Meng X, Liu X, Chen Z, Wu J, Chen G. Wing kinematics measurement and aerodynamics of hovering droneflies with wing damage. BIOINSPIRATION & BIOMIMETICS 2023; 18:026013. [PMID: 36745924 DOI: 10.1088/1748-3190/acb97c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/31/2022] [Accepted: 02/06/2023] [Indexed: 06/18/2023]
Abstract
In this study, we performed successive unilateral and bilateral wing shearing to simulate wing damage in droneflies (Eristalis tenax) and measured the wing kinematics using high-speed photography technology. Two different shearing types were considered in the artificial wing damage. The aerodynamic force and power consumption were obtained by numerical method. Our major findings are the following. Different shearing methods have little influence on the kinematics, forces and energy consumption of insects. Following wing damage, among the potential strategies to adjust the three Euler angles of the wing, adjusting stroke angle (φ) in isolation, or combing the adjustment of stroke angle (φ) with pitch angle (ψ), contributed most to the change in vertical force. The balance of horizontal thrust can be restored by the adjustment of deviation angle (θ) under the condition of unilateral wing damage. Considering zero elastic energy storage, the mass-specific power (P1) increases significantly following wing damage. However, the increase in mass-specific power with 100% elastic energy storage (P2) is very small. The extra cost of the unilateral wing damage is that the energy consumption of the damaged wing and intact wing is highly asymmetrical when zero elastic energy storage is considered. The insects may alleviate the problems of increasing power consumption and asymmetric power distribution by storage and reuse of the negative inertial work of the wing.
Collapse
Affiliation(s)
- Xueguang Meng
- Shaanxi Key Laboratory of Environment and Control for Flight Vehicle, State key laboratory for Strength and Vibration of Mechanical Structures, School of Aerospace, Xi'an Jiaotong University, Xi'an 710049, People's Republic of China
| | - Xinyu Liu
- Shaanxi Key Laboratory of Environment and Control for Flight Vehicle, State key laboratory for Strength and Vibration of Mechanical Structures, School of Aerospace, Xi'an Jiaotong University, Xi'an 710049, People's Republic of China
| | - Zengshuang Chen
- Shaanxi Key Laboratory of Environment and Control for Flight Vehicle, State key laboratory for Strength and Vibration of Mechanical Structures, School of Aerospace, Xi'an Jiaotong University, Xi'an 710049, People's Republic of China
| | - Jianghao Wu
- School of Transportation Science and Engineering, Beihang University, Beijing 100191, People's Republic of China
| | - Gang Chen
- Shaanxi Key Laboratory of Environment and Control for Flight Vehicle, State key laboratory for Strength and Vibration of Mechanical Structures, School of Aerospace, Xi'an Jiaotong University, Xi'an 710049, People's Republic of China
| |
Collapse
|
4
|
Fei F, Tu Z, Deng X. An at-scale tailless flapping wing hummingbird robot: II. Flight control in hovering and trajectory tracking. BIOINSPIRATION & BIOMIMETICS 2023; 18:026003. [PMID: 36595240 DOI: 10.1088/1748-3190/acaa7b] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/12/2022] [Accepted: 12/09/2022] [Indexed: 06/17/2023]
Abstract
Flight control such as stable hovering and trajectory tracking of tailless flapping-wing micro aerial vehicles is a challenging task. Given the constraint on actuation capability, flight control authority is limited beyond sufficient lift generation. In addition, the highly nonlinear and inherently unstable vehicle dynamics, unsteady aerodynamics, wing motion caused body oscillations, and mechanism asymmetries and imperfections due to fabrication process, all pose challenges to flight control. In this work, we propose a systematic onboard control method to address such challenges. In particular, with a systematic comparative study, a nonlinear flight controller incorporating parameter adaptation and robust control demonstrates the preferred performances. Such a controller is designed to address time-varying system uncertainty in flapping flight. The proposed controller is validated on a 12-g at-scale tailless hummingbird robot equipped with two actuators. Maneuver experiments have been successfully performed by the proposed hummingbird robot, including stable hovering, waypoint and trajectory tracking, and stabilization under severe wing asymmetries.
Collapse
Affiliation(s)
- Fan Fei
- School of Mechanical Engineering, Purdue University
- Amazon.com, Inc
| | - Zhan Tu
- School of Mechanical Engineering, Purdue University
- Institute of Unmanned System, Beihang University
| | - Xinyan Deng
- School of Mechanical Engineering, Purdue University
| |
Collapse
|
5
|
Song F, Yan Y, Sun J. Review of insect-inspired wing micro air vehicle. ARTHROPOD STRUCTURE & DEVELOPMENT 2023; 72:101225. [PMID: 36464577 DOI: 10.1016/j.asd.2022.101225] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/06/2022] [Revised: 10/12/2022] [Accepted: 11/02/2022] [Indexed: 06/17/2023]
Abstract
Micro air vehicles (MAVs) have wide application prospects in environmental monitoring, disaster rescue and other civil fields because of their flexibility and maneuverability. Compared with fixed wing and rotary wing aircraft, flapping wing micro air vehicles (FWMAVs) have higher energy utilization efficiency and lower cost and have attracted extensive attention from scientists. Insects have become excellent bionic objects for the study of FWMAVs due to their characteristics of low Reynolds number, low noise, hoverability, small size and light weight. By mimicking flying insects, it may be possible to create highly efficient biomimetic FWMAVs. In this paper, insect flight aerodynamics are reviewed, and the mechanism designs of insect-inspired FWMAVs and their aerodynamics are summarized, including the wing type effect, vibration characteristics and aerodynamic characteristics of the flapping wing.
Collapse
Affiliation(s)
- Fa Song
- Key Laboratory of Bionic Engineering (Ministry of Education, China), Jilin University, Changchun, 130022, PR China
| | - Yongwei Yan
- Key Laboratory of Bionic Engineering (Ministry of Education, China), Jilin University, Changchun, 130022, PR China
| | - Jiyu Sun
- Key Laboratory of Bionic Engineering (Ministry of Education, China), Jilin University, Changchun, 130022, PR China.
| |
Collapse
|
6
|
Jeong SH, Kim JH, Choi SI, Park JK, Kang TS. Platform Design and Preliminary Test Result of an Insect-like Flapping MAV with Direct Motor-Driven Resonant Wings Utilizing Extension Springs. Biomimetics (Basel) 2022; 8:biomimetics8010006. [PMID: 36648792 PMCID: PMC9844305 DOI: 10.3390/biomimetics8010006] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/15/2022] [Revised: 12/20/2022] [Accepted: 12/21/2022] [Indexed: 12/24/2022] Open
Abstract
In this paper, we propose a platform for an insect-like flapping winged micro aerial vehicle with a resonant wing-driving system using extension springs (FMAVRES). The resonant wing-driving system is constructed using an extension spring instead of the conventional helical or torsion spring. The extension spring can be mounted more easily, compared with a torsion spring. Furthermore, the proposed resonant driving system has better endurance compared with systems with torsion springs. Using a prototype FMAVRES, it was found that torques generated for roll, pitch, and yaw control are linear to control input signals. Considering transient responses, each torque response as an actuator is modelled as a simple first-order system. Roll, pitch, and yaw control commands affect each other. They should be compensated in a closed loop controller design. Total weight of the prototype FMAVRES is 17.92 g while the lift force of it is 21.3 gf with 80% throttle input. Thus, it is expected that the new platform of FMAVRES could be used effectively to develop simple and robust flapping MAVs.
Collapse
Affiliation(s)
- Seung-hee Jeong
- Department of Aerospace Information Engineering, Konkuk University, Seoul 05029, Republic of Korea
| | - Jeong-hwan Kim
- Department of Smart Vehicle Engineering, Konkuk University, Seoul 05029, Republic of Korea
| | - Seung-ik Choi
- Department of Smart Vehicle Engineering, Konkuk University, Seoul 05029, Republic of Korea
| | - Jung-keun Park
- Department of Smart Vehicle Engineering, Konkuk University, Seoul 05029, Republic of Korea
| | - Tae-sam Kang
- Department of Aerospace Information Engineering, Konkuk University, Seoul 05029, Republic of Korea
- Correspondence:
| |
Collapse
|
7
|
Agrawal S, Tobalske BW, Anwar Z, Luo H, Hedrick TL, Cheng B. Musculoskeletal wing-actuation model of hummingbirds predicts diverse effects of primary flight muscles in hovering flight. Proc Biol Sci 2022; 289:20222076. [PMID: 36475440 PMCID: PMC9727662 DOI: 10.1098/rspb.2022.2076] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/12/2022] Open
Abstract
Hummingbirds have evolved to hover and manoeuvre with exceptional flight control. This is enabled by their musculoskeletal system that successfully exploits the agile motion of flapping wings. Here, we synthesize existing empirical and modelling data to generate novel hypotheses for principles of hummingbird wing actuation. These may help guide future experimental work and provide insights into the evolution and robotic emulation of hummingbird flight. We develop a functional model of the hummingbird musculoskeletal system, which predicts instantaneous, three-dimensional torque produced by primary (pectoralis and supracoracoideus) and combined secondary muscles. The model also predicts primary muscle contractile behaviour, including stress, strain, elasticity and work. Results suggest that the primary muscles (i.e. the flight 'engine') function as diverse effectors, as they do not simply power the stroke, but also actively deviate and pitch the wing with comparable actuation torque. The results also suggest that the secondary muscles produce controlled-tightening effects by acting against primary muscles in deviation and pitching. The diverse effects of the pectoralis are associated with the evolution of a comparatively enormous bicipital crest on the humerus.
Collapse
Affiliation(s)
- Suyash Agrawal
- Department of Mechanical Engineering, Pennsylvania State University, University Park, PA 16802, USA
| | - Bret W. Tobalske
- Division of Biological Sciences, University of Montana, Missoula, MT 59812, USA
| | - Zafar Anwar
- Department of Mechanical Engineering, Pennsylvania State University, University Park, PA 16802, USA
| | - Haoxiang Luo
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA
| | - Tyson L. Hedrick
- Department of Biology, University of North Carolina, Chapel Hill, NC 27599, USA
| | - Bo Cheng
- Department of Mechanical Engineering, Pennsylvania State University, University Park, PA 16802, USA
| |
Collapse
|
8
|
Wang C, Wang S, De Croon G, Hamaza S. Embodied airflow sensing for improved in-gust flight of flapping wing MAVs. Front Robot AI 2022; 9:1060933. [PMID: 36569593 PMCID: PMC9768326 DOI: 10.3389/frobt.2022.1060933] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/03/2022] [Accepted: 11/17/2022] [Indexed: 12/12/2022] Open
Abstract
Flapping wing micro aerial vehicles (FWMAVs) are known for their flight agility and maneuverability. These bio-inspired and lightweight flying robots still present limitations in their ability to fly in direct wind and gusts, as their stability is severely compromised in contrast with their biological counterparts. To this end, this work aims at making in-gust flight of flapping wing drones possible using an embodied airflow sensing approach combined with an adaptive control framework at the velocity and position control loops. At first, an extensive experimental campaign is conducted on a real FWMAV to generate a reliable and accurate model of the in-gust flight dynamics, which informs the design of the adaptive position and velocity controllers. With an extended experimental validation, this embodied airflow-sensing approach integrated with the adaptive controller reduces the root-mean-square errors along the wind direction by 25.15% when the drone is subject to frontal wind gusts of alternating speeds up to 2.4 m/s, compared to the case with a standard cascaded PID controller. The proposed sensing and control framework improve flight performance reliably and serve as the basis of future progress in the field of in-gust flight of lightweight FWMAVs.
Collapse
|
9
|
Carniel T, Cazenille L, Dalle JM, Halloy J. Using natural language processing to find research topics in Living Machines conferences and their intersections with Bioinspiration & Biomimetics publications. BIOINSPIRATION & BIOMIMETICS 2022; 17:065008. [PMID: 36106566 DOI: 10.1088/1748-3190/ac9208] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/28/2022] [Accepted: 09/14/2022] [Indexed: 06/15/2023]
Abstract
The number of published scientific articles is increasing dramatically and makes it difficult to keep track of research topics. This is particularly difficult in interdisciplinary research areas where different communities from different disciplines are working together. It would be useful to develop methods to automate the detection of research topics in a research domain. Here we propose a natural language processing (NLP) based method to automatically detect topics in defined corpora. We start by automatically generating a global state of the art of Living Machines conferences. Our NLP-based method classifies all published papers into different clusters corresponding to the research topic published in these conferences. We perform the same study on all papers published in the journals Bioinspiration & Biomimetics and Soft Robotics. In total this analysis concerns 2099 articles. Next, we analyze the intersection between the research themes published in the conferences and the corpora of these two journals. We also examine the evolution of the number of papers per research theme which determines the research trends. Together, these analyses provide a snapshot of the current state of the field, help to highlight open questions, and provide insights into the future.
Collapse
Affiliation(s)
- Théophile Carniel
- Université Paris Cité, CNRS, LIED UMR 8236, F-75006 Paris, France
- Agoranov, F-75006 Paris, France
| | - Leo Cazenille
- Université Paris Cité, CNRS, LIED UMR 8236, F-75006 Paris, France
| | - Jean-Michel Dalle
- Agoranov, F-75006 Paris, France
- Sorbonne Université, F-75005 Paris, France
- École Polytechnique, F-91120 Palaiseau, France
| | - José Halloy
- Université Paris Cité, CNRS, LIED UMR 8236, F-75006 Paris, France
| |
Collapse
|
10
|
Diaz-Arriba D, Jardin T, Gourdain N, Pons F, David L. Experiments and numerical simulations on hovering three-dimensional flexible flapping wings. BIOINSPIRATION & BIOMIMETICS 2022; 17:065006. [PMID: 36055251 DOI: 10.1088/1748-3190/ac8f06] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/03/2022] [Accepted: 09/01/2022] [Indexed: 06/15/2023]
Abstract
In this paper, the applicability and accuracy of high-fidelity experimental and numerical approaches in the analysis of three-dimensional flapping (revolving and pitching) wings operating under hovering flight conditions, i.e. where unsteady and three-dimensional rotational effects are strong, are assessed. Numerical simulations are then used to explore the role of mass and frequency ratios on aerodynamic performance, wing dynamics and flow physics. It is shown that time-averaged lift increases with frequency ratio, up to a certain limit that depends on mass ratio and beyond which upward wing bending and flexibility induced phase lag between revolving an pitching motions at stroke reversal become strong and contribute to phases of negative lift that counterbalances the initial lift increase. This wing dynamics, which is dominated by spanwise bending, also affects wing-wake interactions and, in turn, leading edge vortex formation.
Collapse
Affiliation(s)
- D Diaz-Arriba
- ISAE-Supaero, Université de Toulouse, France
- Institut Pprime, UPR 3346, CNRS-Université de Poitiers-ENSMA, Poitiers, France
| | - T Jardin
- ISAE-Supaero, Université de Toulouse, France
| | - N Gourdain
- ISAE-Supaero, Université de Toulouse, France
| | - F Pons
- Institut Pprime, UPR 3346, CNRS-Université de Poitiers-ENSMA, Poitiers, France
| | - L David
- Institut Pprime, UPR 3346, CNRS-Université de Poitiers-ENSMA, Poitiers, France
| |
Collapse
|
11
|
Gao H, Lynch J, Gravish N. Soft Molds with Micro-Machined Internal Skeletons Improve Robustness of Flapping-Wing Robots. MICROMACHINES 2022; 13:1489. [PMID: 36144112 PMCID: PMC9502397 DOI: 10.3390/mi13091489] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/15/2022] [Revised: 09/01/2022] [Accepted: 09/02/2022] [Indexed: 06/16/2023]
Abstract
Mobile millimeter and centimeter scale robots often use smart composite manufacturing (SCM) for the construction of body components and mechanisms. The fabrication of SCM mechanisms requires laser machining and laminating flexible, adhesive, and structural materials into small-scale hinges, transmissions, and, ultimately, wings or legs. However, a fundamental limitation of SCM components is the plastic deformation and failure of flexures. In this work, we demonstrate that encasing SCM components in a soft silicone mold dramatically improves the durability of SCM flexure hinges and provides robustness to SCM components. We demonstrate this advance in the design of a flapping-wing robot that uses an underactuated compliant transmission fabricated with an inner SCM skeleton and exterior silicone mold. The transmission design is optimized to achieve desired wingstroke requirements and to allow for independent motion of each wing. We validate these design choices in bench-top tests, measuring transmission compliance, kinematics, and fatigue. We integrate the transmission with laminate wings and two types of actuation, demonstrating elastic energy exchange and limited lift-off capabilities. Lastly, we tested collision mitigation through flapping-wing experiments that obstructed the motion of a wing. These experiments demonstrate that an underactuated compliant transmission can provide resilience and robustness to flapping-wing robots.
Collapse
|
12
|
Huang HY, Fan FY, Lin WC, Huang CF, Shen YK, Lin Y, Ruslin M. Optimal Processing Parameters of Transmission Parts of a Flapping-Wing Micro-Aerial Vehicle Using Precision Injection Molding. Polymers (Basel) 2022; 14:polym14071467. [PMID: 35406340 PMCID: PMC9003489 DOI: 10.3390/polym14071467] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/15/2022] [Revised: 03/22/2022] [Accepted: 03/31/2022] [Indexed: 12/10/2022] Open
Abstract
In this study, we designed and fabricated transmission parts for a flapping-wing micro-aerial vehicle (FW-MAV), which was fabricated by precision injection molding, and analyzed its warpage phenomena. First, a numerical simulation (Moldflow) was used to analyze the runner balance and temperature, pressure, and stress distributions of the base, gears, and linkage of the transmission structures in an FW-MAV. These data were then applied to fabricate a steel mold for an FW-MAV. Various process parameters (i.e., injection temperature, mold temperature, injection pressure, and packing time) for manufacturing transmission parts for the FW-MAV by precision injection molding were compared. The Taguchi method was employed to determine causes of warpage in the transmission parts. The experimental results revealed that the causes of warpage in the transmission parts were, in order of importance, the mold temperature, injection pressure, packing time, and injection temperature. After the transmission parts were assembled on the FW-MAV, experiments revealed that the MAV could achieve a flight time of 180 s. Mass production of the FW-MAV by precision injection molding could potentially produce substantial savings in time, manpower, and cost.
Collapse
Affiliation(s)
- Huei-Yu Huang
- Department of Dentistry, Taipei Medical University Shuang Ho Hospital, Taipei Medical University, New Taipei City 23561, Taiwan;
- School of Dentistry, College of Oral Medicine, Taipei Medical University, Taipei 11031, Taiwan
| | - Fang-Yu Fan
- School of Dental Technology, College of Oral Medicine, Taipei Medical University, Taipei 11031, Taiwan; (F.-Y.F.); (W.-C.L.); (C.-F.H.)
| | - Wei-Chun Lin
- School of Dental Technology, College of Oral Medicine, Taipei Medical University, Taipei 11031, Taiwan; (F.-Y.F.); (W.-C.L.); (C.-F.H.)
| | - Chiung-Fang Huang
- School of Dental Technology, College of Oral Medicine, Taipei Medical University, Taipei 11031, Taiwan; (F.-Y.F.); (W.-C.L.); (C.-F.H.)
- Division of Family and Operative Dentistry, Department of Dentistry, Taipei Medical University Hospital, Taipei 11031, Taiwan
| | - Yung-Kang Shen
- School of Dental Technology, College of Oral Medicine, Taipei Medical University, Taipei 11031, Taiwan; (F.-Y.F.); (W.-C.L.); (C.-F.H.)
- Research Center for Biomedical Devices, Taipei Medical University, Taipei 11031, Taiwan
- Correspondence:
| | - Yi Lin
- Department of Business Administration, Takming University of Science and Technology, Taipei 114, Taiwan;
| | - Muhammad Ruslin
- Department of Oral and Maxillofacial Surgery, Faculty of Dentistry, Hasanuddin University, Makassar 90245, Indonesia;
| |
Collapse
|
13
|
Visual-Inertial Cross Fusion: A Fast and Accurate State Estimation Framework for Micro Flapping Wing Rotors. DRONES 2022. [DOI: 10.3390/drones6040090] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
Real-time and drift-free state estimation is essential for the flight control of Micro Aerial Vehicles (MAVs). Due to the vibration caused by the particular flapping motion and the stringent constraints of scale, weight, and power, state estimation divergence actually becomes an open challenge for flapping wing platforms’ longterm stable flight. Unlike conventional MAVs, the direct adoption of mature state estimation strategies, such as inertial or vision-based methods, has difficulty obtaining satisfactory sensing performance on flapping wing platforms. Inertial sensors offer high sampling frequency but suffer from flapping-introduced oscillation and drift. External visual sensors, such as motion capture systems, can provide accurate feedback but come with a relatively low sampling rate and severe delay. This work proposes a novel state estimation framework to combine the merits from both to address such key sensing challenges of a special flapping wing platform—micro flapping wing rotors (FWRs). In particular, a cross-fusion scheme, which integrates two alternately updated Extended Kalman Filters based on a convex combination, is proposed to tightly fuse both onboard inertial and external visual information. Such a design leverages both the high sampling rate of the inertial feedback and the accuracy of the external vision-based feedback. To address the sensing delay of the visual feedback, a ring buffer is designed to cache historical states for online drift compensation. Experimental validations have been conducted on two sophisticated microFWRs with different actuation and control principles. Both of them show realtime and drift-free state estimation.
Collapse
|
14
|
Development of an Insect-like Flapping-Wing Micro Air Vehicle with Parallel Control Mechanism. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12073509] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
Most traditional flapping-wing micro air vehicles (FMAVs) adopt a serial control mechanism, which means that one drive corresponds to one degree of freedom. However, the serial mechanism often struggles to meet FMAV requirements in terms of stiffness, size, and reliability. In order to realize a compact reliable control mechanism, we developed a two-wing insect-like FMAV with a parallel control mechanism. The prototype possesses an optimized string-based flapping wing mechanism, a 2RSS/U parallel control mechanism, and an onboard power supply and controller. The pulley’s profile of the string-based mechanism was refined to reduce the deformation and impact of the string. The parameters of the parallel mechanism were designed to enable the stroke plane to rotate a large angle to produce control torque. The prototype had a flapping frequency of 25 Hz, a full wingspan of 21 cm, and a total weight of 28 g. A PID controller with a decoupler based on the kinetics solution of parallel mechanism was designed to control the FMAV. A force and torque (F/T) experiment was carried out to obtain the lift and control torque of the prototype. The measured data showed that the flapping wing mechanism provided sufficient lift and the control mechanism generated a toque caused by the stroke plane rotation and trailing edge movement and were linear to the control input. A flight test was carried out to verify the flight stability of the prototype. The result shows that the attitude angle only fluctuates within a small range, which proved that the control mechanism and control strategy were successful.
Collapse
|
15
|
Longitudinal Mode System Identification of an Insect-like Tailless Flapping-Wing Micro Air Vehicle Using Onboard Sensors. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12052486] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/04/2023]
Abstract
In this paper, model parameter identification results are presented for a longitudinal mode dynamic model of an insect-like tailless flapping-wing micro air vehicle (FWMAV) using angle and angular rate data from onboard sensors only. A gray box model approach with indirect method was utilized with adaptive Gauss–Newton, Levenberg–Marquardt, and gradient search identification methods. Regular and low-frequency reference commands were mainly used for identification since they gave higher fit percentages than irregular and high-frequency reference commands. Dynamic parameters obtained using three identification methods with two different datasets were similar to each other, indicating that the obtained dynamic model was sufficiently reliable. Most of the identified dynamic model parameters had similar values to the computationally obtained ones, except stability derivatives for pitching moment with forward velocity and pitching rate variations. Differences were mainly due to certain neglected body, nonlinear dynamics, and the shift of the center of gravity. Fit percentage of the identified dynamic model (~49%) was more than two-fold higher than that of the computationally obtained one (~22%). Frequency domain analysis showed that the identified model was much different from that of the computationally obtained one in the frequency range of 0.3 rad/s to 5 rad/s, which affected transient responses. Both dynamic models showed that the phase margin was very low, and that it should be increased by a feedback controller to have a robustly stable system. The stable dominant pole of the identified model had a higher magnitude which resulted in faster responses. The identified dynamic model exhibited much closer responses to experimental flight data in pitching motion than the computationally obtained dynamic model, demonstrating that the identified dynamic model could be used for the design of more effective pitch angle-stabilizing controllers.
Collapse
|
16
|
Clap-and-Fling Mechanism in Non-Zero Inflow of a Tailless Two-Winged Flapping-Wing Micro Air Vehicle. AEROSPACE 2022. [DOI: 10.3390/aerospace9020108] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/06/2023]
Abstract
The aerodynamic performance of clap-and-fling mechanism in a KU-Beetle—a tailless two-winged flapping-wing micro air vehicle—was investigated for various horizontal free-stream inflows. Three inflow speeds of 0 (hovering), 2.52 m/s and 5.04 m/s corresponding to advance ratios of 0, 0.5 and 1 were considered. The forces and moments for two wing distances of 16 mm (in which the clap-and-fling effect was strong) and 40 mm (in which the clap-and-fling effect was diminished) were computed using commercial software of ANSYS-Fluent 16.2. When the advance ratio increased from 0 to 0.5 and 1, the lift enhancement due to clap in the down-stroke reversal increased from 1.1% to 1.7% and 1.9%, while that in the up-stroke reversal decreased from 2.1% to −0.5% and 1.1%. Thus, in terms of lift enhancement due to clap, the free-stream inflow was more favorable in the down stroke than the up stroke. For all investigated inflow speeds, the clap-and-fling effect augmented the lift and power consumption but reduced the lift-to-power ratio. The total contributions of the fling phases to the enhancements in lift, torque, and power consumption were more than twice those of the clap phases. For the advance ratio from 0 to 0.5 and 1, the enhancement in average lift slightly decreased from 9.9% to 9.4% and 9.1%, respectively, and the augmentation in average power consumption decreased from 12.3% to 10.5% and 9.7%. Meanwhile, the reduction in the average lift-to-power ratio decreased from 2.1% to 1.1% and 0.6%, implying that in terms of aerodynamic efficiency, the free-stream inflow benefits the clap-and-fling effect in the KU-Beetle.
Collapse
|
17
|
Helps T, Romero C, Taghavi M, Conn AT, Rossiter J. Liquid-amplified zipping actuators for micro-air vehicles with transmission-free flapping. Sci Robot 2022; 7:eabi8189. [PMID: 35108024 DOI: 10.1126/scirobotics.abi8189] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/02/2022]
Abstract
Flapping micro-air vehicles (MAVs) can access a wide range of locations, including confined spaces such as the inside of industrial plants and collapsed buildings, and offer high maneuverability and tolerance to disturbances. However, current flapping MAVs require transmission systems between their actuators and wings, which introduce energetic losses and additional mass, hindering performance. Here, we introduce a high-performance electrostatic flapping actuation system, the liquid-amplified zipping actuator (LAZA), which induces wing movement by direct application of liquid-amplified electrostatic forces at the wing root, eliminating the requirement of any transmission system and their associated downsides. The LAZA allows for accurate control of flapping frequency and amplitude, exhibits no variation in performance over more than 1 million actuation cycles, and delivers peak and average specific powers of 200 and 124 watts per kilogram, respectively, exceeding mammalian and insect flight muscle and on par with modern flapping MAV actuation systems. The inclusion of 50-millimeter-long passively pitching wings in a dragonfly-sized LAZA flapping system allowed the rectification of net directional thrust up to 5.73 millinewtons. This thrust was achieved while consuming only 243 milliwatts of electrical power, implying a thrust-to-power ratio of 23.6 newtons per kilowatt, similar to state-of-the-art flapping MAVs, helicopter rotors, and commercial drone motors. Last, a horizontally moving LAZA flapping system supported by a taut nylon wire was able to accelerate from at-rest and travel at speeds up to 0.71 meters per second. The LAZA enables lightweight, high-performance transmission-free flapping MAVs for long-term remote exploration and search-and-rescue missions.
Collapse
Affiliation(s)
- Tim Helps
- Department of Engineering Mathematics, University of Bristol, Bristol, UK.,Bristol Robotics Laboratory, University of Bristol, Bristol, UK
| | - Christian Romero
- Department of Engineering Mathematics, University of Bristol, Bristol, UK.,Bristol Robotics Laboratory, University of Bristol, Bristol, UK.,Bristol Centre for Functional Nanomaterials, School of Physics, University of Bristol, Bristol, UK.,School of Chemistry, University of Bristol, Bristol, UK
| | - Majid Taghavi
- Department of Engineering Mathematics, University of Bristol, Bristol, UK.,Bristol Robotics Laboratory, University of Bristol, Bristol, UK
| | - Andrew T Conn
- Bristol Robotics Laboratory, University of Bristol, Bristol, UK.,Department of Mechanical Engineering, University of Bristol, Bristol, UK
| | - Jonathan Rossiter
- Department of Engineering Mathematics, University of Bristol, Bristol, UK.,Bristol Robotics Laboratory, University of Bristol, Bristol, UK
| |
Collapse
|
18
|
Fang X, Wu J, Du F. Elastodynamic model for flapping-wing micro aerial vehicle. BIOINSPIRATION & BIOMIMETICS 2021; 16:065009. [PMID: 34551407 DOI: 10.1088/1748-3190/ac290b] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/18/2021] [Accepted: 09/22/2021] [Indexed: 06/13/2023]
Abstract
Lightweight design is key to high efficiency and long durability of micro air vehicle (MAV), while it will inevitably reduce the stiffness of the structures and affect the motion of the mechanism. In this study, an elastodynamic model for flapping-wing MAV (FMAV) is established to unveil the effect of elastic deformation of transmission mechanism on the flapping motion. Based on kineto-elastostatic analysis, an elastodynamic model of the transmission mechanism is built, which reveals that the inertial force of the transmission mechanism for typical FMAV is much smaller than the force transmitted. Thus, the inertial force can be ignored, and analytical formula between the deformation of transmission mechanism and the flapping angle is derived. Finite element method (FEM) simulations are conducted to validate the analytical formula, and the results show that the flapping angle obtained from the analytical formula matches well with FEM simulations. The proposed elastodynamic model and analytical formula will provide theoretical guidance for designing and optimizing FMAV with desired transmission mechanism and flapping motion.
Collapse
Affiliation(s)
- Xin Fang
- School of Transportation Science and Engineering, Beihang University, 100191 Beijing, People's Republic of China
| | - Jianghao Wu
- School of Transportation Science and Engineering, Beihang University, 100191 Beijing, People's Republic of China
| | - Feng Du
- School of Transportation Science and Engineering, Beihang University, 100191 Beijing, People's Republic of China
| |
Collapse
|
19
|
Saito K, Nagai H, Suto K, Ogawa N, Seong YA, Tachi T, Niiyama R, Kawahara Y. Insect wing 3D printing. Sci Rep 2021; 11:18631. [PMID: 34650126 PMCID: PMC8516917 DOI: 10.1038/s41598-021-98242-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/08/2021] [Accepted: 09/06/2021] [Indexed: 11/13/2022] Open
Abstract
Insects have acquired various types of wings over their course of evolution and have become the most successful terrestrial animals. Consequently, the essence of their excellent environmental adaptability and locomotive ability should be clarified; a simple and versatile method to artificially reproduce the complex structure and various functions of these innumerable types of wings is necessary. This study presents a simple integral forming method for an insect-wing-type composite structure by 3D printing wing frames directly onto thin films. The artificial venation generation algorithm based on the centroidal Voronoi diagram, which can be observed in the wings of dragonflies, was used to design the complex mechanical properties of artificial wings. Furthermore, we implemented two representative functions found in actual insect wings: folding and coupling. The proposed crease pattern design software developed based on a beetle hindwing enables the 3D printing of foldable wings of any shape. In coupling-type wings, the forewing and hindwing are connected to form a single large wing during flight; these wings can be stored compactly by disconnecting and stacking them like cicada wings.
Collapse
Affiliation(s)
- Kazuya Saito
- Faculty of Design, Kyushu University, Fukuoka, 815-8540, Japan.
| | - Hiroto Nagai
- Graduate School of Engineering, Nagasaki University, Nagasaki, 852-8521, Japan
| | - Kai Suto
- Graduate School of Arts and Sciences, The University of Tokyo, Tokyo, 153-8902, Japan
- Nature Architects Inc., Tokyo, 107-0052, Japan
| | - Naoki Ogawa
- Tokyo University of Agriculture, Kanagawa, 243-0034, Japan
| | - Young Ah Seong
- Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, 113-8654, Japan
| | - Tomohiro Tachi
- Graduate School of Arts and Sciences, The University of Tokyo, Tokyo, 153-8902, Japan
| | - Ryuma Niiyama
- Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, 113-8654, Japan
| | - Yoshihiro Kawahara
- Graduate School of Engineering, The University of Tokyo, Tokyo, 113-8654, Japan
| |
Collapse
|
20
|
Tu Z, Fei F, Deng X. Bio-Inspired Rapid Escape and Tight Body Flip on an At-Scale Flapping Wing Hummingbird Robot Via Reinforcement Learning. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2021.3064882] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
|
21
|
Sun JY, Yan YW, Li FD, Zhang ZJ. Generative design of bioinspired wings based on deployable hindwings of Anomala Corpulenta Motschulsky. Micron 2021; 151:103150. [PMID: 34583291 DOI: 10.1016/j.micron.2021.103150] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/18/2021] [Revised: 09/06/2021] [Accepted: 09/20/2021] [Indexed: 10/20/2022]
Abstract
In view of the application prospect of the hindwing of Anomala Corpulenta Motschulsky in the field of foldable Micro Aerial Vehicles (MAVs), this paper investigated the morphology, macro/microstructure of the hindwing, and the nanomechanical properties of the wing veins and the wing membrane. It revealed the variation of nanohardness and elastic modulus between different veins and different positions of the same wing veins. This paper established a 3D coupling model of the hindwing based on the principle of coupling bionics. This paper presents a simulation analysis of the structural statics (uniform load distribution) and aerodynamics (under different attack angles, flight velocities, and flapping frequencies). Two 3D coupling models (HW-I and HW-II) of the hindwing were discussed the deformation and flight aerodynamic performance of Workbenches and Fluent. On that basis, the bionic wing was generatively designed, and a 3D bionic wing (BioW) model was established using the generative design method. Simulation analyses were performed through structural statics and aerodynamics. The results showed that the stress distribution was relatively uniform and that the overall displacement deformation was minimal for the BioW model. Moreover, the BioW model had better flight efficiency and aerodynamic performance.
Collapse
Affiliation(s)
- J Y Sun
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, 130022, PR China
| | - Y W Yan
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, 130022, PR China
| | - F D Li
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, 130022, PR China
| | - Z J Zhang
- Key Laboratory of CNC Equipment Reliability (Ministry of Education) and School of Mechanical and Aerospace Engineering, Jilin University, Changchun, 130022, PR China.
| |
Collapse
|
22
|
A holistic survey on mechatronic Systems in Micro/Nano scale with challenges and applications. JOURNAL OF MICRO-BIO ROBOTICS 2021. [DOI: 10.1007/s12213-021-00145-8] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/01/2023]
|
23
|
Abstract
Abstract
In the past few decades, robotics research has witnessed an increasingly high interest in miniaturized, intelligent, and integrated robots. The imperative component of a robot is the actuator that determines its performance. Although traditional rigid drives such as motors and gas engines have shown great prevalence in most macroscale circumstances, the reduction of these drives to the millimeter or even lower scale results in a significant increase in manufacturing difficulty accompanied by a remarkable performance decline. Biohybrid robots driven by living cells can be a potential solution to overcome these drawbacks by benefiting from the intrinsic microscale self-assembly of living tissues and high energy efficiency, which, among other unprecedented properties, also feature flexibility, self-repair, and even multiple degrees of freedom. This paper systematically reviews the development of biohybrid robots. First, the development of biological flexible drivers is introduced while emphasizing on their advantages over traditional drivers. Second, up-to-date works regarding biohybrid robots are reviewed in detail from three aspects: biological driving sources, actuator materials, and structures with associated control methodologies. Finally, the potential future applications and major challenges of biohybrid robots are explored.
Graphic abstract
Collapse
|
24
|
Singh B, Yidris N, Basri AA, Pai R, Ahmad KA. Study of Mosquito Aerodynamics for Imitation as a Small Robot and Flight in a Low-Density Environment. MICROMACHINES 2021; 12:511. [PMID: 34063196 PMCID: PMC8147425 DOI: 10.3390/mi12050511] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/07/2021] [Revised: 03/26/2021] [Accepted: 03/27/2021] [Indexed: 11/28/2022]
Abstract
In terms of their flight and unusual aerodynamic characteristics, mosquitoes have become a new insect of interest. Despite transmitting the most significant infectious diseases globally, mosquitoes are still among the great flyers. Depending on their size, they typically beat at a high flapping frequency in the range of 600 to 800 Hz. Flapping also lets them conceal their presence, flirt, and help them remain aloft. Their long, slender wings navigate between the most anterior and posterior wing positions through a stroke amplitude about 40 to 45°, way different from their natural counterparts (>120°). Most insects use leading-edge vortex for lift, but mosquitoes have additional aerodynamic characteristics: rotational drag, wake capture reinforcement of the trailing-edge vortex, and added mass effect. A comprehensive look at the use of these three mechanisms needs to be undertaken-the pros and cons of high-frequency, low-stroke angles, operating far beyond the normal kinematic boundary compared to other insects, and the impact on the design improvements of miniature drones and for flight in low-density atmospheres such as Mars. This paper systematically reviews these unique unsteady aerodynamic characteristics of mosquito flight, responding to the potential questions from some of these discoveries as per the existing literature. This paper also reviews state-of-the-art insect-inspired robots that are close in design to mosquitoes. The findings suggest that mosquito-based small robots can be an excellent choice for flight in a low-density environment such as Mars.
Collapse
Affiliation(s)
- Balbir Singh
- Department of Aerospace Engineering, Faculty of Engineering, Universiti Putra Malaysia, Serdang 43400, Malaysia; (N.Y.); (A.A.B.)
- Department of Aeronautical and Automobile Engineering, Manipal Institute of Technology, Manipal Academy of Higher Education, Manipal 576104, India
| | - Noorfaizal Yidris
- Department of Aerospace Engineering, Faculty of Engineering, Universiti Putra Malaysia, Serdang 43400, Malaysia; (N.Y.); (A.A.B.)
| | - Adi Azriff Basri
- Department of Aerospace Engineering, Faculty of Engineering, Universiti Putra Malaysia, Serdang 43400, Malaysia; (N.Y.); (A.A.B.)
| | - Raghuvir Pai
- Department of Mechanical and Manufacturing Engineering, Manipal Institute of Technology, Manipal Academy of Higher Education, Manipal 576104, India;
| | - Kamarul Arifin Ahmad
- Department of Aerospace Engineering, Faculty of Engineering, Universiti Putra Malaysia, Serdang 43400, Malaysia; (N.Y.); (A.A.B.)
- Aerospace Malaysia Research Centre, Faculty of Engineering, Universiti Putra Malaysia, Serdang 43400, Malaysia
| |
Collapse
|
25
|
Sanuki K, Fujikawa T. Motion Analysis of Butterfly-Style Flapping Robot Using CFD Based on 3D-CAD Model and Experimental Flight Data. JOURNAL OF ROBOTICS AND MECHATRONICS 2021. [DOI: 10.20965/jrm.2021.p0216] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
In this paper, a computational fluid dynamics (CFD) analysis system based on a 3D-CAD model of a butterfly-style flapping robot using its experimental flight data is proposed. The butterfly-style flapping robot can control its attitude by changing its flapping and lead-lag angles; however, measuring the lift, thrust, and body pitch moment directly during flight is difficult. In the case of the flight motion analysis of insects, the state of flight has been photographed, and numerical analysis has been performed to obtain the flow field around the wings. However, when performing the motion analysis of hardware, it is difficult to reflect the shape of the body accurately using this method. In this study, a CFD analysis system considered the shape of the developed butterfly-style flapping robot as 3D-CAD data and analyzed the flow field around the wings using the experimental flight data of the hardware. The results of motion analysis showed that the attitude during flight differs due to the difference in lifts and body pitch moments in the flight experiment data of the hardware with different neutral angles of the flapping wings.
Collapse
|
26
|
A review: Learning from the flight of beetles. Comput Biol Med 2021; 133:104397. [PMID: 33895456 DOI: 10.1016/j.compbiomed.2021.104397] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/22/2021] [Revised: 04/10/2021] [Accepted: 04/10/2021] [Indexed: 11/21/2022]
Abstract
Some Coleoptera (popularly referred to as beetles) can fly at a low Reynolds number with their deployable hind wings, which directly enables a low body weight-a good bioinspiration strategy for miniaturization of micro-air vehicles (MAVs). The hind wing is a significant part of the body and has a folding/unfolding mechanism whose unique function benefits from different structures and materials. This review summarizes the actions, factors, and mechanisms of beetle flight and bioinspired MAVs with deployable wings. The elytron controlled by muscles is the protected part for the folded hind wing and influences flight performance. The resilin, the storage material for elasticity, is located in the folding parts. The hind wings' folding/unfolding mechanism and flight performance can be influenced by vein structures of hollow, solid and wrinkled veins, the hemolymph that flows in hollow veins and its hydraulic mechanism, and various mechanical properties of veins. The action of beetle flight includes flapping flight, hovering, gliding, and landing. The hind wing is passively deformed through force and hemolymph, and the attack angle of the hind wing and the nanomechanics of the veins, muscles and mass body determine the flight performance. Based these factors, bioinspired MAVs with a new deployable wing structure and new materials will be designed to be much more effective and miniaturized. The new fuels and energy supply are significant aspects of MAVs.
Collapse
|
27
|
Tu Z, Fei F, Liu L, Zhou Y, Deng X. Flying With Damaged Wings: The Effect on Flight Capacity and Bio-Inspired Coping Strategies of a Flapping Wing Robot. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3059626] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
|
28
|
Biomimetic Drones Inspired by Dragonflies Will Require a Systems Based Approach and Insights from Biology. DRONES 2021. [DOI: 10.3390/drones5020024] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
Many drone platforms have matured to become nearly optimal flying machines with only modest improvements in efficiency possible. “Chimera” craft combine fixed wing and rotary wing characteristics while being substantially less efficient than both. The increasing presence of chimeras suggests that their mix of vertical takeoff, hover, and more efficient cruise is invaluable to many end users. We discuss the opportunity for flapping wing drones inspired by large insects to perform these mixed missions. Dragonflies particularly are capable of efficiency in all modes of flight. We will explore the fundamental principles of dragonfly flight to allow for a comparison between proposed flapping wing technological solutions and a flapping wing organism. We chart one approach to achieving the next step in drone technology through systems theory and an appreciation of how biomimetics can be applied. New findings in dynamics of flapping, practical actuation technology, wing design, and flight control are presented and connected. We show that a theoretical understanding of flight systems and an appreciation of the detail of biological implementations may be key to achieving an outcome that matches the performance of natural systems. We assert that an optimal flapping wing drone, capable of efficiency in all modes of flight with high performance upon demand, might look somewhat like an abstract dragonfly.
Collapse
|
29
|
Abstract
This paper analyzes the lift-production system in hovering of the flapping wing robot COLIBRI of the size of a hummingbird. The paper first examines the flapping wing mechanism for which a new gear transmission is proposed to reduce the friction and facilitate the assembly. Next, a sensitivity analysis is performed on the wing size. Then, the paper discusses several options for the gearbox, various DC motors and two battery configurations (a single battery or two batteries in series) to minimize the heat generation and increase the flight time. The configuration involving two batteries has been found more effective. The flight time is predicted using Shepherd’s discharge model and it is confirmed by an experiment. The robot sustains an endurance of nearly 5 min to produce a lift force equal to the weight of the robot.
Collapse
|
30
|
Gehrke A, Mulleners K. Phenomenology and scaling of optimal flapping wing kinematics. BIOINSPIRATION & BIOMIMETICS 2021; 16:026016. [PMID: 33264765 DOI: 10.1088/1748-3190/abd012] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/30/2020] [Accepted: 12/02/2020] [Indexed: 06/12/2023]
Abstract
Biological flapping wing fliers operate efficiently and robustly in a wide range of flight conditions and are a great source of inspiration to engineers. The unsteady aerodynamics of flapping wing flight are dominated by large-scale vortical structures that augment the aerodynamic performance but are sensitive to minor changes in the wing actuation. We experimentally optimise the pitch angle kinematics of a flapping wing system in hover to maximise the stroke average lift and hovering efficiency with the help of an evolutionary algorithm andin situforce and torque measurements at the wing root. Additional flow field measurements are conducted to link the vortical flow structures to the aerodynamic performance for the Pareto-optimal kinematics. The optimised pitch angle profiles yielding maximum stroke-average lift coefficients have trapezoidal shapes and high average angles of attack. These kinematics create strong leading-edge vortices early in the cycle which enhance the force production on the wing. The most efficient pitch angle kinematics resemble sinusoidal evolutions and have lower average angles of attack. The leading-edge vortex grows slower and stays close-bound to the wing throughout the majority of the stroke-cycle. This requires less aerodynamic power and increases the hovering efficiency by 93% but sacrifices 43% of the maximum lift in the process. In all cases, a leading-edge vortex is fed by vorticity through the leading edge shear layer which makes the shear layer velocity a good indicator for the growth of the vortex and its impact on the aerodynamic forces. We estimate the shear layer velocity at the leading edge solely from the input kinematics and use it to scale the average and the time-resolved evolution of the circulation and the aerodynamic forces. The experimental data agree well with the shear layer velocity prediction, making it a promising metric to quantify and predict the aerodynamic performance of the flapping wing hovering motion.
Collapse
Affiliation(s)
- Alexander Gehrke
- École polytechnique fédérale de Lausanne, Institute of Mechanical Engineering, Unsteady flow diagnostics laboratory, 1015 Lausanne, Switzerland
| | - Karen Mulleners
- École polytechnique fédérale de Lausanne, Institute of Mechanical Engineering, Unsteady flow diagnostics laboratory, 1015 Lausanne, Switzerland
| |
Collapse
|
31
|
A Modified Quasisteady Aerodynamic Model for a Sub-100 mg Insect-Inspired Flapping-Wing Robot. Appl Bionics Biomech 2021; 2020:8850036. [PMID: 33425006 PMCID: PMC7772018 DOI: 10.1155/2020/8850036] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/24/2020] [Revised: 11/09/2020] [Accepted: 12/08/2020] [Indexed: 11/18/2022] Open
Abstract
This study proposes a modified quasisteady aerodynamic model for the sub-100-milligram insect-inspired flapping-wing robot presented by the authors in a previous paper. The model, which is based on blade-element theory, considers the aerodynamic mechanisms of circulation, dissipation, and added-mass, as well as the inertial effect. The aerodynamic force and moment acting on the wing are calculated based on the two-degree-of-freedom (2-DOF) wing kinematics of flapping and rotating. In order to validate the model, we used a binocular high-speed photography system and a customized lift measurement system to perform simultaneous measurements of the wing kinematics and the lift of the robot under different input voltages. The results of these measurements were all in close agreement with the estimates generated by the proposed model. In addition, based on the model, this study analyzes the 2-DOF flapping-wing dynamics of the robot and provides an estimate of the passive rotation—the main factor in generating lift—from the measured flapping kinematics. The analysis also reveals that the calculated rotating kinematics of the wing under different input voltages accord well with the measured rotating kinematics. We expect that the model presented here will be useful in developing a control strategy for our sub-100 mg insect-inspired flapping-wing robot.
Collapse
|
32
|
Rayhan SB. Conceptual design and parametric structural modeling of a FWAV biomimetic flapping wing. IOP CONFERENCE SERIES: MATERIALS SCIENCE AND ENGINEERING 2021; 1024:012015. [DOI: 10.1088/1757-899x/1024/1/012015] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 09/01/2023]
Abstract
Abstract
Flapping wing air vehicle is the latest technological achievement of the aviation industry, which is still maturing as a miniature of large aircraft before finally achieving the finest development. By mimicking the nature, parametric structural modeling of a flapping wing, made of composite membrane and aluminum alloy support beam is numerically investigated adopting commercial FE code Ansys. A flapping cycle is divided into twelve segments, and for each segment, the maximum stress, first ply failure and the deformation are studied. It is found that the fiber orientation angle has the highest impact on the structural properties during a flapping cycle, where improper stacking sequence will cause failure to the wing. Moreover, increasing the ply thickness has a positive impact on the overall structural performance of the model. Finally, appropriate support beam orientation can further improve the structure by increasing the stiffness and reducing the maximum stress significantly without increasing the overall weight of the wing.
Collapse
|
33
|
Deng H, Xiao S, Huang B, Yang L, Xiang X, Ding X. Design optimization and experimental study of a novel mechanism for a hover-able bionic flapping-wing micro air vehicle. BIOINSPIRATION & BIOMIMETICS 2020; 16:026005. [PMID: 33075759 DOI: 10.1088/1748-3190/abc292] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/05/2020] [Accepted: 10/19/2020] [Indexed: 06/11/2023]
Abstract
Allomyrina dichotomahas a natural ultra-high flying ability and maneuverability. Especially its ability to fly flexibly in the air, makes it more adaptable to the harsh ecological environment. In this study, a bionic flapping-wing micro air vehicle (FMAV) is designed and fabricated by mimicking the flight mode ofA. dichotoma. Parametric design was employed for combining the airframe structure and flight characteristics analysis. To improve the transmission efficiency and compactness of the FMAV mechanisms, this study first analyses the body structure ofA. dichotoma, and then proposes a novel mechanism of FMAV based on its biological motion characteristics, the flight motion characteristics, and its musculoskeletal system. By optimizing the flapping-wing mechanism and mimicking the flying mechanism ofA. dichotoma, the large angle amplitude and the high-frequency flapping motion can be achieved to generate more aerodynamic force. Meanwhile, to improve the bionic effect and the wing performance of FMAV, the flexible deformation ofA. dichotomawings for each flapping period was observed by a high-speed camera. Furthermore, the bionic design of wings the prototype was carried out, therefore the wings can generate a high lift force in the flapping process. The experiment demonstrated that the aircraft can achieve a flapping angle of 160 degrees and 30 Hz flapping frequency. The attitude change of FMAV is realized by mimicking the movement for the change of attitude of theA. dichotoma, by changing the angle of attack of the wing, and executing the flight action of multiple degrees of freedom including pitch, roll and yaw. Finally, the aerodynamic experiment demonstrated that the prototype can offer 27.8 g lift and enough torque for altitude adjustment.
Collapse
Affiliation(s)
- Huichao Deng
- Department of Mechanical Engineering, Robotics Institute, Beihang University, Beijing 100191, People's Republic of China
| | - Shengjie Xiao
- Department of Mechanical Engineering, Robotics Institute, Beihang University, Beijing 100191, People's Republic of China
| | - Binxiao Huang
- Department of Mechanical Engineering, Robotics Institute, Beihang University, Beijing 100191, People's Republic of China
| | - Lili Yang
- Department of Mechanical Engineering, Robotics Institute, Beihang University, Beijing 100191, People's Republic of China
| | - Xinyi Xiang
- Department of Mechanical Engineering, Robotics Institute, Beihang University, Beijing 100191, People's Republic of China
| | - Xilun Ding
- Department of Mechanical Engineering, Robotics Institute, Beihang University, Beijing 100191, People's Republic of China
- Beijing Advanced Innovation Center for Biomedical Engineer, Beihang University, Beijing 100191, People's Republic of China
| |
Collapse
|
34
|
Phan HV, Park HC. Mechanisms of collision recovery in flying beetles and flapping-wing robots. Science 2020; 370:1214-1219. [DOI: 10.1126/science.abd3285] [Citation(s) in RCA: 32] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/23/2020] [Accepted: 10/28/2020] [Indexed: 11/02/2022]
Affiliation(s)
- Hoang Vu Phan
- Department of Smart Vehicle Engineering, Konkuk University, Seoul 05029, South Korea
- Artificial Muscle Research Center, Konkuk University, Seoul 05029, South Korea
| | - Hoon Cheol Park
- Department of Smart Vehicle Engineering, Konkuk University, Seoul 05029, South Korea
- Artificial Muscle Research Center, Konkuk University, Seoul 05029, South Korea
| |
Collapse
|
35
|
Phan HV, Park HC. Mimicking nature's flyers: a review of insect-inspired flying robots. CURRENT OPINION IN INSECT SCIENCE 2020; 42:70-75. [PMID: 33010474 DOI: 10.1016/j.cois.2020.09.008] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/28/2020] [Revised: 09/17/2020] [Accepted: 09/22/2020] [Indexed: 06/11/2023]
Abstract
Insects have attracted much interest from scientists and engineers as they offer an endless source of inspiration for creating innovative engineering designs. By mimicking flying insects, it may be possible to create highly efficient biomimetic drones. In this paper, we provide an overview on how the principles of insect flight, including large stroke amplitudes and wing rotations, the clap-and-fling effect and flight control have been implemented to successfully demonstrate untethered, controlled free-flight in the insect-inspired flying robots. Despite the lack of insect-like muscles, various electro-mechanical systems have been invented to actuate insect robots. Achieving controlled free-flight is a cornerstone of next-generation insect-inspired robots which in addition to flight will be equipped with multiple modes of transportation, similar to real flying insects.
Collapse
Affiliation(s)
- Hoang Vu Phan
- Department of Smart Vehicle Engineering, Konkuk University, Artificial Muscle Research Center, 120 Neungdong-ro, Gwangjin-gu, Seoul, South Korea
| | - Hoon Cheol Park
- Department of Smart Vehicle Engineering, Konkuk University, Artificial Muscle Research Center, 120 Neungdong-ro, Gwangjin-gu, Seoul, South Korea.
| |
Collapse
|
36
|
Effect of Wing Corrugation on the Aerodynamic Efficiency of Two-Dimensional Flapping Wings. APPLIED SCIENCES-BASEL 2020. [DOI: 10.3390/app10207375] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
Many previous studies have shown that wing corrugation of an insect wing is only structurally beneficial in enhancing the wing’s bending stiffness and does not much help to improve the aerodynamic performance of flapping wings. This study uses two-dimensional computational fluid dynamics (CFD) in aiming to identify a proper wing corrugation that can enhance the aerodynamic performance of the KUBeetle, an insect-like flapping-wing micro air vehicle (MAV), which operates at a Reynolds number of less than 13,000. For this purpose, various two-dimensional corrugated wings were numerically investigated. The two-dimensional flapping wing motion was extracted from the measured three-dimensional wing kinematics of the KUBeetle at spanwise locations of r = (0.375 and 0.75)R. The CFD analysis showed that at both spanwise locations, the corrugations placed over the entire wing were not beneficial for improving aerodynamic efficiency. However, for the two-dimensional flapping wing at the spanwise location of r = 0.375R, where the wing experiences relatively high angles of attack, three specially designed wings with leading-edge corrugation showed higher aerodynamic performance than that of the non-corrugated smooth wing. The improvement is closely related to the flow patterns formed around the wings. Therefore, the proposed leading-edge corrugation is suggested for the inboard wing of the KUBeetle to enhance aerodynamic performance. The corrugation in the inboard wing may also be structurally beneficial.
Collapse
|
37
|
Addo-Akoto R, Han JS, Han JH. Aerodynamic performance of flexible flapping wings deformed by slack angle. BIOINSPIRATION & BIOMIMETICS 2020; 15:066005. [PMID: 32702672 DOI: 10.1088/1748-3190/aba8ac] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/17/2020] [Accepted: 07/23/2020] [Indexed: 06/11/2023]
Abstract
Wing flexibility is unavoidable for flapping wing flyers to ensure a lightweight body and for higher payload allowances on board. It also effectively minimizes the inertia force from high-frequency wingbeat motion. However, related studies that attempt to clarify the essence of wing flexibility remain insufficient. Here, a parametric study of a flexible wing was conducted as part of the effort to build an aerodynamic model and analyze its aerodynamic performance. The quasi-steady modeling was adopted with experimentally determined translational forces. These forces were determined from 84 flexible wing cases while varying the angle of attack at the wing rootαrand the flexibility parameter, slack angleθS, with 19 additional rigid wing cases. This study foundαrfor optimum lift generation to exceed 45° irrespective ofθS. The coefficient curves were well-fitted with a cubed-sine function. The model was rigorously validated with various wing kinematics, giving a good estimation of the experimental results. The estimated error was less than 5%, 6%, and 8% for the lift, drag, and moment, respectively, considering fast to moderate wing kinematics. The study was extended to analyze the pure aerodynamic performance of the flexible wing. The most suitable wing for a flapping-wing micro-aerial vehicle wing design with a simple vein structure was found to be the 5° slack-angled wing. The inference from this study further shows that a small amount of deformation is needed to increase the lift, as observed in natural flyers. Thus, wing deformation could allow living flyers to undertake less pitching motion in order to reduce the mechanical power and increase the efficiency of their wings.
Collapse
Affiliation(s)
- Reynolds Addo-Akoto
- Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Yuseong-gu, Daejeon, Republic of Korea
| | - Jong-Seob Han
- Chair of Aerodynamics and Fluid Mechanics, Technical University of Munich, Boltzmannstr. 15, 85748 Garching, Germany
| | - Jae-Hung Han
- Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Yuseong-gu, Daejeon, Republic of Korea
| |
Collapse
|
38
|
Phan HV, Aurecianus S, Au TKL, Kang T, Park HC. Towards the Long-Endurance Flight of an Insect-Inspired, Tailless, Two-Winged, Flapping-Wing Flying Robot. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.3005127] [Citation(s) in RCA: 23] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
|
39
|
Tu Z, Fei F, Zhang J, Deng X. An At-Scale Tailless Flapping-Wing Hummingbird Robot. I. Design, Optimization, and Experimental Validation. IEEE T ROBOT 2020. [DOI: 10.1109/tro.2020.2993217] [Citation(s) in RCA: 25] [Impact Index Per Article: 6.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
|
40
|
Taha HE, Kiani M, Hedrick TL, Greeter JSM. Vibrational control: A hidden stabilization mechanism in insect flight. Sci Robot 2020; 5:5/46/eabb1502. [DOI: 10.1126/scirobotics.abb1502] [Citation(s) in RCA: 27] [Impact Index Per Article: 6.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/03/2020] [Accepted: 09/08/2020] [Indexed: 11/02/2022]
Abstract
It is generally accepted among biology and engineering communities that insects are unstable at hover. However, existing approaches that rely on direct averaging do not fully capture the dynamical features and stability characteristics of insect flight. Here, we reveal a passive stabilization mechanism that insects exploit through their natural wing oscillations: vibrational stabilization. This stabilization technique cannot be captured using the averaging approach commonly used in literature. In contrast, it is elucidated using a special type of calculus: the chronological calculus. Our result is supported through experiments on a real hawkmoth subjected to pitch disturbance from hovering. This finding could be particularly useful to biologists because the vibrational stabilization mechanism may also be exploited by many other creatures. Moreover, our results may inspire more optimal designs for bioinspired flying robots by relaxing the feedback control requirements of flight.
Collapse
Affiliation(s)
- Haithem E. Taha
- Department of Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92617, USA
| | - Mohammadali Kiani
- Department of Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92617, USA
| | - Tyson L. Hedrick
- Department of Biology, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA
| | - Jeremy S. M. Greeter
- Department of Biology, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA
- Technology Deployment and Outreach, Pacific Northwest National Laboratory, Richland, WA 99352, USA
| |
Collapse
|
41
|
A Bio-Inspired Flapping Wing Rotor of Variant Frequency Driven by Ultrasonic Motor. APPLIED SCIENCES-BASEL 2020. [DOI: 10.3390/app10010412] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
By combining the flapping and rotary motion, a bio-inspired flapping wing rotor (FWR) is a unique kinematics of motion. It can produce a significantly greater aerodynamic lift and efficiency than mimicking the insect wings in a vertical take-off and landing (VTOL). To produce the same lift, the FWR’s flapping frequency, twist angle, and self-propelling rotational speed is significantly smaller than the insect-like flapping wings and rotors. Like its opponents, however, the effect of variant flapping frequency (VFF) of a FWR, during a flapping cycle on its aerodynamic characteristics and efficiency, remains to be evaluated. A FWR model is built to carry out experimental work. To be able to vary the flapping frequency rapidly during a stroke, an ultrasonic motor (USM) is used to drive the FWR. Experiment and numerical simulation using computational fluid dynamics (CFD) are performed in a VFF range versus the usual constant flapping frequency (CFF) cases. The measured lifting forces agree very well with the CFD results. Flapping frequency in an up-stroke is smaller than a down-stroke, and the negative lift and inertia forces can be reduced significantly. The average lift of the FWR where the motion in VFF is greater than the CFF, in the same input motor power or equivalent flapping frequency. In other words, the required power for a VFF case to produce a specified lift is less than a CFF case. For this FWR model, the optimal installation angle of the wings for high lift and efficiency is found to be 30° and the Strouhal number of the VFF cases is between 0.3–0.36.
Collapse
|
42
|
Tu Z, Fei F, Deng X. Untethered Flight of an At-Scale Dual-motor Hummingbird Robot with Bio-inspired Decoupled Wings. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2974717] [Citation(s) in RCA: 17] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
|
43
|
Han JS, Han JH. A contralateral wing stabilizes a hovering hawkmoth under a lateral gust. Sci Rep 2019; 9:17397. [PMID: 31757991 PMCID: PMC6874597 DOI: 10.1038/s41598-019-53625-0] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/15/2019] [Accepted: 10/31/2019] [Indexed: 11/25/2022] Open
Abstract
Previous analysis on the lateral stability of hovering insects, which reported a destabilizing roll moment due to a lateral gust, has relied on the results of a single wing without considering a presence of the contralateral wing (wing-wing interaction). Here, we investigated the presence of the contralateral wing on the aerodynamic and flight dynamic characteristics of a hovering hawkmoth under a lateral gust. By employing a dynamically scaled-up mechanical model and a servo-driven towing system installed in a water tank, we found that the presence of the contralateral wing plays a significant role in the lateral static stability. The contralateral wing mitigated an excessive aerodynamic force on the wing at the leeward side, thereby providing a negative roll moment to the body. Digital particle image velocimetry revealed an attenuated vortical system of the leading-edge vortex. An excessive effective angle of attack in the single wing case, which was caused by the root vortex of previous half stroke, was reduced by a downwash of the contralateral wing. The contralateral wing also relocated a neutral point in close proximity to the wing hinge points above the actual center of gravity, providing a practical static margin to a hovering hawkmoth.
Collapse
Affiliation(s)
- Jong-Seob Han
- Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Daejeon, Republic of Korea.,Technical University of Munich, Garching, Germany
| | - Jae-Hung Han
- Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Daejeon, Republic of Korea.
| |
Collapse
|
44
|
Chen L, Zhang Y, Zhou C, Wu J. Aerodynamic mechanisms in bio‐inspired micro air vehicles: a review in the light of novel compound layouts. IET CYBER-SYSTEMS AND ROBOTICS 2019. [DOI: 10.1049/iet-csr.2018.0007] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/20/2022] Open
Affiliation(s)
- Long Chen
- School of Transportation Science and Engineering, Beihang University No. 37 Xueyuan Road Beijing People's Republic of China
| | - Yanlai Zhang
- School of Transportation Science and Engineering, Beihang University No. 37 Xueyuan Road Beijing People's Republic of China
| | - Chao Zhou
- School of Transportation Science and Engineering, Beihang University No. 37 Xueyuan Road Beijing People's Republic of China
| | - Jianghao Wu
- School of Transportation Science and Engineering, Beihang University No. 37 Xueyuan Road Beijing People's Republic of China
| |
Collapse
|
45
|
Longitudinal Modeling and Control of Tailed Flapping-Wings Micro Air Vehicles near Hovering. JOURNAL OF ROBOTICS 2019. [DOI: 10.1155/2019/9341012] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
Compared with the tailless flapping wing micro air vehicle (FMAV), the tailed FMAV has a simpler structure and is easier to control. However, although biplane FMAVs with tails have been used for flight control in practice for a long time, a theoretical model of the tailed FMAV has not previously been established. In this paper, we report modeling of the longitudinal dynamics of a tailed biplane FMAV using the Newton‐Euler equations. In this study, the vehicle was trimmed and linearized near its hovering equilibrium, assuming small disturbances. Then the stability of the hovering FMAV was analyzed with a modal analysis method. A state feedback controller was synthesized to stabilize the disturbance. Finally, we investigated the flight control of the tailed biplane FMAV with different control signals. Our results show that the natural‐motion mode determines the oscillation divergence characteristics of the tailed FMAV, a mode that can be suppressed with the state feedback controller by real‐time modulation of the tail. The tail can also be used to achieve different flight modes with different control‐signal functions. The tailed FMAV cruises in a line when the tail is controlled with a step function and spirals in an elliptical trajectory in the longitudinal plane when the tail is controlled by a sinusoidal function. Our longitudinal‐ dynamics model provides an analytical basis for further dynamic analyses of the tailed FMAV, as well as the corresponding controller synthesis. Moreover, the proposed attitude stabilization and flight control schemes for the vehicle near hovering provide a basis for developing practical uses of the tailed FMAV.
Collapse
|
46
|
Wing Design, Fabrication, and Analysis for an X-Wing Flapping-Wing Micro Air Vehicle. DRONES 2019. [DOI: 10.3390/drones3030065] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
Flapping-wing Micro Air Vehicles (FW-MAVs), inspired by small insects, have limitless potential to be capable of performing tasks in urban and indoor environments. Through the process of mimicking insect flight, however, there are a lot of challenges for successful flight of these vehicles, which include their design, fabrication, control, and propulsion. To this end, this paper investigates the wing design and fabrication of an X-wing FW-MAV and analyzes its performance in terms of thrust generation. It was designed and developed using a systematic approach. Two pairs of wings were fabricated with a traditional cut-and-glue method and an advanced vacuum mold method. The FW-MAV is equipped with inexpensive and tiny avionics, such as the smallest Arduino controller board, a remote-control receiver, standard sensors, servos, a motor, and a 1-cell battery. Thrust measurement was conducted to compare the performance of different wings at full throttle. Overall, this FW-MAV produces maximum vertical thrust at a pitch angle of 10 degrees. The wing having stiffeners and manufactured using the vacuum mold produces the highest thrust among the tested wings.
Collapse
|
47
|
Truong NT, Phan HV, Park HC. Design and demonstration of a bio-inspired flapping-wing-assisted jumping robot. BIOINSPIRATION & BIOMIMETICS 2019; 14:036010. [PMID: 30658344 DOI: 10.1088/1748-3190/aafff5] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/09/2023]
Abstract
Jumping insects such as fleas, froghoppers, grasshoppers, and locusts take off from the ground using a catapult mechanism to push their legs against the surface of the ground while using their pairs of flapping wings to propel them into the air. Such combination of jumping and flapping is expected as an efficient way to overcome unspecified terrain or avoid large obstacles. In this work, we present the conceptual design and verification of a bio-inspired flapping-wing-assisted jumping robot, named Jump-flapper, which mimics jumping insects' locomotion strategy. The robot, which is powered by only one miniature DC motor to implement the functions of jumping and flapping, is an integration of an inverted slider-crank mechanism for the structure of the legs, a dog-clutch mechanism for the winching system, and a rack-pinion mechanism for the flapping-wing system. A prototype of the robot is fabricated and experimentally tested to evaluate the integration and performance of the Jump-flapper. This 23 g robot with assisted flapping wings operating at approximately 19 Hz is capable of jumping to a height of approximately 0.9 m, showing about 30% improvement in the jumping height compared to that of the robot without assistance of the flapping wings. The benefits of the flapping-wing-assisted jumping system are also discussed throughout the study.
Collapse
Affiliation(s)
- Ngoc Thien Truong
- Department of Advanced Technology Fusion, Konkuk University, Seoul 05029, Republic of Korea. These authors contributed equally to this work as the co-first authors
| | | | | |
Collapse
|
48
|
Roshanbin A, Preumont A. Yaw control torque generation for a hovering robotic hummingbird. INT J ADV ROBOT SYST 2019. [DOI: 10.1177/1729881418823968] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022] Open
Abstract
This study describes the design, development, and flight tests of a novel control mechanism to generate yaw control torque of a hovering robotic hummingbird (known as Colibri). The proposed method generates yaw torque by modifying the wing kinematics while minimizing its influence on roll and pitch torques. To achieve this, two different architectures of series and parallel mechanisms are investigated; they are mathematically analyzed to investigate their behavior with respect to cross-coupling effects. The analysis is verified by measuring the control torque characteristics. The efficacy of the proposed method is also explored by flight experiments.
Collapse
Affiliation(s)
- Ali Roshanbin
- Active Structures Laboratory, Department of Control Engineering and System Analysis, Université Libre de Bruxelles (ULB), Brussels, Belgium
| | - André Preumont
- Active Structures Laboratory, Department of Control Engineering and System Analysis, Université Libre de Bruxelles (ULB), Brussels, Belgium
| |
Collapse
|
49
|
Phan HV, Park HC. Wing inertia as a cause of aerodynamically uneconomical flight with high angles of attack in hovering insects. ACTA ACUST UNITED AC 2018; 221:jeb.187369. [PMID: 30111558 DOI: 10.1242/jeb.187369] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/25/2018] [Accepted: 08/08/2018] [Indexed: 11/20/2022]
Abstract
Flying insects can maintain maneuverability in the air by flapping their wings, and, to save energy, the wings should operate following optimal kinematics. However, unlike conventional rotary wings, insects operate their wings at aerodynamically uneconomical and high angles of attack (AoA). Although insects have continuously received attention from biologists and aerodynamicists, the high AoA operation in insect flight has not been clearly explained. Here, we used a theoretical blade-element model to examine the impact of wing inertia on the power requirement and flapping AoA, based on 3D free-hovering flight wing kinematics of a horned beetle, Allomyrina dichotoma The relative simplicity of the model allowed us to search for the best AoA distributed along the wingspan, which generate the highest vertical force per unit power. We show that, although elastic elements may be involved in flight muscles to store and save energy, the insect still has to use substantial power to accelerate its wings, because inertial energy stores should be used to overcome aerodynamic drag before being stored elastically. At the same flapping speed, a wing operating at a higher AoA requires lower inertial torque, and therefore lower inertial power output, at stroke reversals than a wing operating at an aerodynamically optimal low AoA. An interactive aerodynamic-inertial effect thereby enables the wing to flap at sufficiently high AoA, which causes an aerodynamically uneconomical flight in an effort to minimize the net flight energy.
Collapse
Affiliation(s)
- Hoang Vu Phan
- Artificial Muscle Research Center and Department of Smart Vehicle Engineering, Konkuk University, Seoul 05029, South Korea
| | - Hoon Cheol Park
- Artificial Muscle Research Center and Department of Smart Vehicle Engineering, Konkuk University, Seoul 05029, South Korea
| |
Collapse
|
50
|
Karásek M, Muijres FT, De Wagter C, Remes BDW, de Croon GCHE. A tailless aerial robotic flapper reveals that flies use torque coupling in rapid banked turns. Science 2018; 361:1089-1094. [DOI: 10.1126/science.aat0350] [Citation(s) in RCA: 176] [Impact Index Per Article: 29.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/19/2018] [Revised: 05/04/2018] [Accepted: 07/20/2018] [Indexed: 02/06/2023]
Abstract
Insects are among the most agile natural flyers. Hypotheses on their flight control cannot always be validated by experiments with animals or tethered robots. To this end, we developed a programmable and agile autonomous free-flying robot controlled through bio-inspired motion changes of its flapping wings. Despite being 55 times the size of a fruit fly, the robot can accurately mimic the rapid escape maneuvers of flies, including a correcting yaw rotation toward the escape heading. Because the robot’s yaw control was turned off, we showed that these yaw rotations result from passive, translation-induced aerodynamic coupling between the yaw torque and the roll and pitch torques produced throughout the maneuver. The robot enables new methods for studying animal flight, and its flight characteristics allow for real-world flight missions.
Collapse
Affiliation(s)
- Matěj Karásek
- Micro Air Vehicle Laboratory, Control and Simulation, Delft University of Technology, Delft, Netherlands
| | - Florian T. Muijres
- Experimental Zoology Group, Wageningen University and Research, Wageningen, Netherlands
| | - Christophe De Wagter
- Micro Air Vehicle Laboratory, Control and Simulation, Delft University of Technology, Delft, Netherlands
| | - Bart D. W. Remes
- Micro Air Vehicle Laboratory, Control and Simulation, Delft University of Technology, Delft, Netherlands
| | - Guido C. H. E. de Croon
- Micro Air Vehicle Laboratory, Control and Simulation, Delft University of Technology, Delft, Netherlands
| |
Collapse
|