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1. Design of a Flapping Wing Mechanism to Coordinate Both Wing Swing and Wing Pitch

   https://doi.org/10.1115/1.4038979  

   Wang, Peter L.; Michael McCarthy, J. (April 2018, Journal of Mechanisms and Robotics)
2. The Dragonfly Wing Project

   1.Zheng, Hao; Akbarzadeh, Masoud (January 2022, Architectural design)

   Del Campo, Matias; Leach, Neil (Ed.)

   Special Issue: Machine Hallucinations: Architecture and Artificial Intelligence Nature has always been the master of design skills to which humans only aspire, but new approaches bring that aspiration closer to our reach than ever before. Through 4.5 billion years of iterations, nature has shown us its extraordinary craftsmanship, breeding a variety of species whose body structures have gradually evolved to adapt to natural phenomena and make full use of their unique characteristics. The dragonfly wing, among body structures, is an extreme example of efficient use of materials and minimal weight while remaining strong enough to withstand the tremendous forces of flight. It has long been the object of scientific research examining its structural advantages to apply its principles to fabricated designs.1 We can imitate its form and create duplicates, but thoroughly understanding the dragonfly wing’s mechanism, behavior, and design logic is no trivial task. 

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3. The Dragonfly Wing Project

   Zheng, Hao; Akbarzadeh, Masoud (January 2022, Architectural design)

   del Campo, Matias; Leach, Neil (Ed.)

   Nature has always been the master of design skills to which humans only aspire to, but new approaches bring that aspiration closer to our reach than ever before. Through 4.5 billion years of iterations, nature has shown us its extraordinary craftsmanship, breeding a variety of species whose body structures have gradually evolved to adapt to natural phenomena and make full use of their unique characteristics. The dragonfly wing, among body structure is an extreme example of efficient use of materials and minimal weight while remaining strong enough to withstand the tremendous forces of flight. It has long been the object of scientific research examining its structural advantages to applying their principles to fabricated designs.1 We can imitate its form and create duplicates, but thoroughly understanding the dragonfly wing’s mechanism, behavior and design logic is no trivial task. 

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4. Dimensional analysis of spring-wing systems reveals performance metrics for resonant flapping-wing flight

   https://doi.org/10.1098/rsif.2020.0888  

   Lynch, James; Gau, Jeff; Sponberg, Simon; Gravish, Nick (February 2021, Journal of The Royal Society Interface)

   null (Ed.)

   Flapping-wing insects, birds and robots are thought to offset the high power cost of oscillatory wing motion by using elastic elements for energy storage and return. Insects possess highly resilient elastic regions in their flight anatomy that may enable high dynamic efficiency. However, recent experiments highlight losses due to damping in the insect thorax that could reduce the benefit of those elastic elements. We performed experiments on, and simulations of, a dynamically scaled robophysical flapping model with an elastic element and biologically relevant structural damping to elucidate the roles of body mechanics, aerodynamics and actuation in spring-wing energetics. We measured oscillatory flapping-wing dynamics and energetics subject to a range of actuation parameters, system inertia and spring elasticity. To generalize these results, we derive the non-dimensional spring-wing equation of motion and present variables that describe the resonance properties of flapping systems: N , a measure of the relative influence of inertia and aerodynamics, and K ^ , the reduced stiffness. We show that internal damping scales with N , revealing that dynamic efficiency monotonically decreases with increasing N . Based on these results, we introduce a general framework for understanding the roles of internal damping, aerodynamic and inertial forces, and elastic structures within all spring-wing systems. 

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5. Wing Fold and Twist Greatly Improves Flight Efficiency for Bat-Scale Flapping Wing Robots

   https://doi.org/10.1109/IROS51168.2021.9636735  

   Fan, Xiaozhou; Breuer, Kenneth; Vejdani, Hamid (September 2021, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS))

   Inspired by bat flight performance, we explore the advantages of wing twist and fold for flapping wing robots. For this purpose, we develop a dynamical model that incorporates these two degrees of freedom to the wing. The twist is assumed to be linearly-increasing along the wing, while the wing fold is modeled as a relative rotation of the handwing with respect to the armwing. An optimization scheme parameterizes the wing kinematics for 2, 5 and 8 m/s forward flight velocities. The intricate interplay between wing orientation, effective angle of attack and the ensuing lift and thrust generation are discussed. The results show that wing twist and fold alleviate negative lift and thrust in the upstroke, and in some cases producing persistent positive thrust throughout cycle for handwing. As a result, power consumption drops precipitously compared to the base case of a rigid flat plate. Another crucial realization is the relative importance of wing twist and fold in achieving efficient flight strongly depends on speeds. At slow flight, twist is significantly more effective in minimizing the power, but becomes energetically inefficient for fast speeds. The results also show that a 45° wing fold during upstroke is energetically beneficial for all speeds. The synergy of wing twist and fold are most prominent at slow flight. These findings provides useful guidelines for designing flapping wing robots. 

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