Simulation and analysis of a passive pitch reversal flapping wing mechanism for an aerial robotic platform

One of many difficulties in creating flapping wing miniature robotic aerial vehicles lies in generating proper wing trajectory that would result in sufficient lift forces for hovering and maneuvering. A completely passive wing pitch reversal design based on the wingpsilas inertial dynamics is proposed. Dynamics are simulated using a Lagrangian formulation, resulting in theoretical predictions for aerodynamic forces and motion trajectory. Based on the generated wing lift and rotation trajectory delay, the wingpsilas sensitivity to variations in spring stiffness, damping coefficient, driving frequency, and rotation axis position is analyzed and the above parameters are evaluated for efficiency as control inputs. Furthermore, a wing control methodology based on slow actuation of spring stiffness and flapping frequency is proposed, allowing for partial position/orientation of the robot in free space.