Characterization of the Micromechanical Flying Insect by Optical Position Sensing

In the following work, we develop a characterization method using miniature fiberoptic position sensors for the Micromechanical Flying Insect (MFI) 1, a centimeter sized micro aerial vehicle being developed at the University of California, Berkeley. Sensing the state of a structure of this scale is challenging due to limited sensor technology and difficulty in constraining the structure. We developed a unique fiberoptic reflection position sensor and associated circuitry that yields a high resolution (approximately 5 µ m of linear motion), appropriate scale, and real time method for sensing the state of the MFI. Also included is the development of a clamping technique for the 2 wing, 4 degree of freedom MFI designed to expose actuator surfaces to be sensed while properly grounding the MFI without introducing added compliance or stiffness to the airframe. We include characterization data for a 2 DOF (flapping and rotation for one wing) wing structure, a clamped 4 DOF motor core of the MFI, and one side of an entire 4 DOF MFI.