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Building upon prior work, the development of a scalable high frequency flapping wing robotic test platform is presented. Weighing 4.0 grams and operating at frequencies in excess of 90Hz, the platform is capable of generating a lift-to-weight ratio of approximately 1.3 and demonstrated lift-off tethered to an external power supply. From a previous electromagnetic actuator design, the coil cross-section...
A design principle for selecting the stiffness of a wing rotational flexure hinge on bio-inspired flapping wing robots is presented. In this work, a systematic approach of selecting rotational stiffness values such that the primary mode of resonance occurs at harmonics of the wing stroke frequency is proposed. Using the quasi-steady aerodynamic model as a basis, simulations were performed to assess...
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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