In the body of research relevant to high-performance flapping micro air vehicles (MAV), development of light-weight, compact and energy-efficient flapping mechanisms occupies a position of primacy due to its direct impact on the flight performance and mission capability. Realization of such versatile flapping mechanism with additional ability of producing thrust levels that fulfill requirements of cruising forward flight and vertical take-off and landing (VTOL) conditions demand extensive design validation and performance evaluation. This paper presents a concerted approach for mechanism development of a 20 cm span flapping MAV through an iterative design process and synergistic fabrication options involving electrical-discharge-wire-cutting (EDWC) and injection molding. Dynamic characterization of each mechanism is done through high speed photography, power take-off measurement, wind tunnel testing and proof-of-concept test flights. The research outcome represents best-in-class mechanism for a 20 cm span...

https://journals.sagepub.com/doi/pdf/10.1260/1756-8293.7.2.181

Practical Flapping Mechanisms for 20 cm-span Micro Air Vehicles:

Flapping flight has the potential to revolutionize micro air vehicles (MAVs) due to increased aerodynamic performance, improved maneuverability, and hover capabilities. This paper presents the design of a robotic flapping wing mechanism for use in general studies involving flapping flight and laboratory-based experimental optimization of flapping trajectories. The design allows for dynamic adjustment of flapping trajectories in air or liquids with three rotational degrees of freedom on each wing. The design, instrumentation, and control of the mechanism are discussed, and experimental characterization of the mechanism's performance is presented. Preliminary trajectory optimization using a Box-Behnken design approach is used and shows successful parameter optimization. The limitations of the current mechanism are addressed. A survey of flapping mechanisms is presented.

https://journals.sagepub.com/doi/pdf/10.1260/1756-8293.4.1.31

A Differentially Driven Flapping Wing Mechanism for Force Analysis and Trajectory Optimization

We proposed an RL framework for control of flapping-wing MAVs (2006). The algorithm has been discussed and simulation results using a quasi-steady model showed initial promise. In this paper, the results from an experiment on a Drosophila-based dynamically scaled model are presented and are used to verify the control framework. Moreover, a comparison between a biological Drosophila melanogaster and the experimental results shows the actual possibility of employing the proposed approach to MAV control problem

A Reinforcement Learning Approach to Lift Generation in Flapping MAVs: Experimental Results

Design and Analysis of a Flapping Wing Mechanism for Optimization Ryan B. George Department of Mechanical Engineering Master of Science Furthering our understanding of the physics of flapping flight has the potential to benefit the field of micro air vehicles. Advancements in micro air vehicles can benefit applications such as surveillance, reconnaissance, and search and rescue. In this research, flapping kinematics of a ladybug was explored using a direct linear transformation. A flapping mechanism design is presented that was capable of executing ladybug or other species-specific kinematics. The mechanism was based on a differential gear design, had two wings, and could flap in harsh environments. This mechanism served as a test bed for force analysis and optimization studies. The first study was based on a Box-Behnken screening design to explore wing kinematic parameter design space and manually search in the direction of flapping kinematics that optimized the objective of maximum combined lift and thrust. The second study used a BoxBehnken screening design to build a response surface. Using gradient-based techniques, this surface was optimized for maximum combined lift and thrust. Box-Behnken design coupled with response surface methodology was an efficient method for exploring the mechanism force response. Both methods for optimization were capable of successfully improving lift and thrust force outputs. The incorporation of the results of these studies will aid in the design of more efficient micro air vehicles and with the ultimate goal of leading to a better understanding of flapping wing aerodynamics and the development of aerodynamic models.

/pdf/design-and-analysis-of-a-flapping-wing-mechanism-for-15cwkieepi.pdf

Design and Analysis of a Flapping Wing Mechanism for Optimization

Flapping micro aerial vehicles are interesting in applications where maneuverability is needed in confined spaces. Yet aerodynamics of insect flapping flight is not completely known and the research in this area lacks a suitable aerodynamic model that can be used for control purposes. Reinforcement learning approach is proposed which is inspired from "how" the learning is achieved in real insects in nature. The reinforcement learning controller has been simulated using a quasi-steady aerodynamic model and shown to converge to a flapping motion. The learning capacity and advantages of this approach are also discussed

A reinforcement learning approach to lift generation in flapping MAVs: simulation results

A dynamically scaled flapping-wing model has been developed to investigate the aerodynamic phenomena and flight performance of insect-scale flapping wings. The mechanism consists of two wings, each having 3 rotational degrees of freedom, mounted on a linear stage to permit translation in a fluid-filled tank. Each wing is equipped with a sensor for instantaneous measurement of the time-varying forces and torques. The setup permits one wing to be designated as the fore wing and the other as the hind wing so that interactions between them can be analysed to understand flight for four-winged insects. The apparatus is versatile enough to explore a range of wing morphologies as well as operational wing trajectory parameters

Force measurements on a scaled mechanical model of dragonfly in forward flight

This paper presents the examination of the clever Differential with three levels of opportunity. The is the principal differential with that interprets differential speed and force to its three results when the results are under ﬂuctuated loads, however deciphers equivalent movement and force to its results when exposed to approach loads. The kinematics and elements of the are determined and are hypothetically investigated under three different burden cases. The movement of the under the three burden cases is additionally recreated and concentrated in. The beneﬁts of alongside its current and potential applications are introduced.

Design and Development of a Tracked Inspection Robot

Blueprint of an in-pipe climbing robot that works with sharp transmissions to study complex line relationships. Standard wheeled/happening pipe climbing robots tend to slide when exploring pipe turns. Instruments help achieve a very distinct delay sequence in which the robot slides and drags as it progresses. The proposed transmission joins the farthest ground plane of the standard two-output transmission. This opens up a substantial time for 3 output transmissions. This instrument takes into ac-count the force exerted on each track within the line rela-tion to speciﬁcally alter the robot’s track speed, unlocking the key to ﬁne control. Deﬂection of the robot across pipe networks with different bearings and non-slip pipe bends demonstrate the integrity of the proposed structure.

Deployment of long distance multi-moving robots for underground pipe inspection

Designing an in-pipe climbing robot that manipulates sharp gears to study complex line relationships. Tra-ditional rolling/happening pipe climbing robots tend to slide when exploring pipe curves. The proposed gearbox connects to the farthest ground plane of a standard dual output gearbox. Instrumentation helps achieve a very well-deﬁned deceleration sequence in which the robot slides and pulls as it moves forward. This instrument takes into account the forces exerted on each track within the line relationship and intentionally modiﬁes the robot’s track speed, unlocking the key to ﬁne-tuning. This makes the 3 output transmissions take a lot of time. Deﬂection of the robot on a pipe network with various bearings and non-slip pipe bends demonstrates the integrity of the proposed structure.

Design and Development of Miniature long distance multi-moving robots for 3D Smart Sensing for underground Pipe Inspection

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Force measurements on a scaled mechanical model of dragonfly in forward flight

Design and Development of a Tracked Inspection Robot

Deployment of long distance multi-moving robots for underground pipe inspection

Design and Development of Miniature long distance multi-moving robots for 3D Smart Sensing for underground Pipe Inspection