An attitude control of a micro-flight mechanism with rotational wings

An attitude control of a micro-flight mechanism with magnetic rotational wings in an alternating magnetic field is discussed. The micro-flight mechanism is composed of the magnetic rotational wings, the body, and the arch to support the axis of the rotational wings. We define the axes as: x-axis is in the direction of the magnetic field, y-axis and z-axis are in the horizontal direction and in the vertical direction in the orthogonal plane to x-axis, respectively. The attitude control around y-axis and z-axis is conducted by the magnetic anisotropic torque. The attitude control by magnetic force, however, is not effective in x-axis direction. The direction of the thrust must be kept vertical; otherwise, the drift of the thrust enhances the roll around x-axis. The arch supports the axis of the rotational wings to keep the direction of the thrust. The attitude control around every axis was evaluated through experiments with the fabricated micro-mechanisms. The micro-flight mechanism succeeded in floating to the guides for 8 seconds.