Dynamically tuned design of the MFI thorax

This paper presents an analysis of the major mechanical component (the thorax) of the micromechanical flying insect (MFI), a centimeter sized aerial vehicle currently in development at UC Berkeley. We present a description of the kinematics of the mechanism which converts piezoelectric actuation into complex 3D wing motion. A complete non-linear modeling of the system based on the Lagrangian energy technique is presented. A design methodology is presented in order to achieve optimal matching conditions. Two kinds of sensors which are presently utilized on the MFI are described. Experimental results are presented which validate some of the modeled non-linear aspects of the mechanism.