Wing force map characterization and simulation for the micromechanical flying insect

TitleWing force map characterization and simulation for the micromechanical flying insect
Publication TypeConference Paper
Year of Publication2003
AuthorsYan, J., and R. S. Fearing
Conference NameIntelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Pagination1343 - 1349 vol.2
Date Publishedoct.
Keywords139 Hz, 2 DOF wing, actuator phase difference, aerodynamics, image sequence, image sequences, matched lagging wing dynamics, matched leading wing dynamics, microactuators, micromechanical flying insect, microrobots, mobile robots, quasi-steady state aerodynamic approximation, robot dynamics, sinusoidal voltage amplitude, wing force map characterization
Abstract

The first force map has been generated for a 2 DOF wing designed for the MFI project. For the wing beating at a resonance frequency of 139 Hz, the average 3-D forces were found as a function of sinusoidal voltage amplitude and actuator phase difference. An image sequence of the wing trajectory allowed comparison to simulated forces using a quasi-steady state aerodynamic approximation. Finally, the results were compared to the case of ideally matched leading/lagging wing dynamics driven by sinusoids.

URLhttp://dx.doi.org/10.1109/IROS.2003.1248831
DOI10.1109/IROS.2003.1248831

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