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The prominent maneuverability of flapping flight is enabled by rapid and significant changes in aerodynamic forces, which is a result of surprisingly subtle and precise changes of wing kinematics. The high sensitivity of aerodynamic forces to wing kinematic changes demands precise and instantaneous control of the flapping wing trajectories, especially in the presence of various types of uncertainties...
An electromagnetic actuator weighing 2.6 g and operated up to resonant frequencies in excess of 70 Hz is presented with the intended application to flapping-wing MAVs. Comprised of a single electromagnetic coil, a permanent magnet rotor, and a “virtual spring” magnet pair, system resonance is achieved using a periodic excitation voltage applied to the coil, resulting in harmonic wing motion. Analytical...
In this paper, we develop a theoretical framework for a flapping-wing actuation mechanism. Driven by oscillating magnetic torque acting on the rotor, the proposed actuator operates as a forced nonlinear oscillator. The resonance of the system is achieved by using a virtual magnetic spring without any mechanical components. Analytical models of the driving torque and the wing flapping (rotor) dynamics...
The design and construction of a 2.6 gram electromagnetic actuator operated at resonance is presented. This design is based on wedge-shaped electromagnetic coil generating a driving torque on a rotor embedded with permanent magnets. Additional permanent magnets are used to create a virtual spring effect, supply a restoring torque to the rotor and adding nonlinear system stiffness. Flapping wing parameters...
In this study, we present a motor-driven flapping-wing actuator, designed to operate at its resonant frequency using a torsion spring. The wing is driven by a DC motor directly through gear transmission. Linear torsion springs mounted on the load shaft creates restoring torque when the wing is displaced from its mid-stroke position. The actuator dynamics is obtained using system identification. The...
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