Author/Authors :
Wang, Chenyang National Key Laboratory of Science and Technology on Micro/Nano Fabrication - School of Electronic Information andElectrical Engineering - Shanghai Jiao Tong University, Shanghai, China , Zhang, Weiping National Key Laboratory of Science and Technology on Micro/Nano Fabrication - School of Electronic Information andElectrical Engineering - Shanghai Jiao Tong University, Shanghai, China , Hu, Junqi National Key Laboratory of Science and Technology on Micro/Nano Fabrication - School of Electronic Information andElectrical Engineering - Shanghai Jiao Tong University, Shanghai, China , Zhao, Jiaxin National Key Laboratory of Science and Technology on Micro/Nano Fabrication - School of Electronic Information andElectrical Engineering - Shanghai Jiao Tong University, Shanghai, China , Zou, Yang National Key Laboratory of Science and Technology on Micro/Nano Fabrication - School of Electronic Information andElectrical Engineering - Shanghai Jiao Tong University, Shanghai, China
Abstract :
This study proposes a modified quasisteady aerodynamic model for the sub-100-milligram insect-inspired flapping-wing robotpresented by the authors in a previous paper. The model, which is based on blade-element theory, considers the aerodynamicmechanisms of circulation, dissipation, and added-mass, as well as the inertial effect. The aerodynamic force and moment actingon the wing are calculated based on the two-degree-of-freedom (2-DOF) wing kinematics offlapping and rotating. In order tovalidate the model, we used a binocular high-speed photography system and a customized lift measurement system to performs imultaneous measurements of the wing kinematics and the lift of the robot under different input voltages. The results of the semeasurements were all in close agreement with the estimates generated by the proposed model. In addition, based on the model,this study analyzes the 2-DOFflapping-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.
