A novel dual-differential four-bar flapping mechanism that can accurately emulate insect wing kinematics in all three degrees of freedom (translation, rotation and stroke plane deviation) is developed. The mechanism is specifically designed to be simple and scalable such that it can be utilized on an insect-based flapping wing micro air vehicle. Kinematic formulations for the wing stroke position, pitch angle and coning angle for this model are derived from first principles and compared with a 3D simulation. A benchtop flapping mechanism based on this model was designed and built, which was also equipped with a balance for force measurements. 3D motion capture tests were conducted on this setup to demonstrate the capability of generating complex figure-of-eight flapping motions along with dynamic pitching. The dual-differential four-bar mechanism was implemented on a light-weight vehicle that demonstrated tethered hover.


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    Title :

    A novel mechanism for emulating insect wing kinematics


    Additional title:

    Neuer Mechanismus zur Nachahmung der Kinematik eines Insektenflügels


    Contributors:

    Published in:

    Bioinspiration & Biomimetics (Online) ; 7 , 3 ; 036017/1-036017/15


    Publication date :

    2012


    Size :

    15 Seiten, 18 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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