This paper presents a design procedure to achieve a flapping wing mechanism for a micro air vehicle that drives both the swing and pitch movement of the wing with one actuator. The mechanism combines a planar four bar linkage with a spatial RSSR attached to the input and output links forming a spatial Stephenson six-bar linkage. Function generation synthesis yields a planar four-bar that controls the wing swing profile. The pitch control is synthesized by inverting the movement of the combined system to isolate and compute the SS chain. In order to ensure the design achieves the specified task precision points, the SS chain was randomized within a prescribed tolerance zone. The result was 29 designs, one of which is presented in detail.
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Mechanism Design and Control of a Winged Hovering Robot With Flapping Angle Constraint
Abstract In this paper, we first presented a four-bar linkage mechanism for actuating the wings in a flapping wing flying robot. After that, given the additional constraints imposed by the four-bar linkage, we parameterized the wing kinematics to provide sufficient control authority for stabilizing the system during 3D hovering. The four-bar linkage allows the motors to spin continuously in one direction while generating flapping motion on the wings. However, this mechanism constrains the flapping angle range which is a common control parameter in controlling such systems. To address this problem, we divided each wingbeat cycle into four variable-time segments which is an extension to previous work on split-cycle modulation using wing bias but allows the use of a constant flapping amplitude constraint for the wing kinematic. Finally, we developed an optimization framework to control the system for fast recovery while guaranteeing the stability. The results showed that the proposed control parameters are capable of creating symmetric and asymmetric motions between the two wings and, therefore can stabilize the hovering system with minimal actuation and flapping angle amplitude constraint.
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- Award ID(s):
- 1931122
- PAR ID:
- 10463489
- Date Published:
- Journal Name:
- ASME Letters in Dynamic Systems and Control
- Volume:
- 2
- Issue:
- 4
- ISSN:
- 2689-6117
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1115/1.4055691
