Title :
Efficient resonant drive of flapping-wing robots
Author :
Baek, Stanley S. ; Ma, Kevin Y. ; Fearing, Ronald S.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Univ. of California, Berkeley, CA, USA
Abstract :
Flapping-wing air vehicles can improve efficiency by running at resonance to reduce inertial costs of accelerating and decelerating the wings. For battery-powered, DC motor-driven systems with gears and cranks, the drive torque and velocity is a complicated function of battery voltage. Hence, resonant behavior is not as well defined as for flapping-wing systems with elastic actuators. In this paper, we analyze a resonant drive to reduce average battery power consumption for DC motor-driven flapping-wing robots. We derive a nondimensionalized analysis of the generic class of a motor-driven slider crank, considering motor and battery resistance. This analysis is used to demonstrate the benefits of efficient resonant drive on a 5.8 g flapping-wing robot and experiments showed a 30% average power reduction by integrating a tuned compliant element.
Keywords :
DC motor drives; actuators; aerospace robotics; angular velocity control; microrobots; power consumption; torque control; DC motor; battery power consumption; drive torque; elastic actuators; flapping-wing robots; gears; nondimensionalized analysis; resonant drive; slider crank; velocity; Acceleration; Actuators; Batteries; Costs; Gears; Resonance; Robots; Torque; Vehicles; Voltage;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354725
