Title :
Towards flapping wing control for a micromechanical flying insect
Author :
Yan, J. ; Wood, R.J. ; Avadhanula, S. ; Sitti, M. ; Fearing, R.S.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
Considers a 2 DOF resonant thorax structure signed and fabricated for the MFI project. Miniature piezoelectric PZN-PT unimorph actuators were fabricated and used to drive a four-bar transmission mechanism. The current thorax design utilizes two actuated four-bars and a spherical joint to drive a rigid wing. Rotationally compliant flexure joints have been tested with lifetimes over 106 cycles. Wing spars were instrumented with strain gauges for force measurement and closed-loop wing control.
Keywords :
aerospace control; aerospace robotics; closed loop systems; force measurement; microactuators; microrobots; piezoelectric actuators; robot kinematics; strain gauges; 2 DOF resonant thorax structure; PbZrO3NbO3-PbTiO3; closed-loop wing control; flapping wing control; four-bar transmission mechanism; micromechanical flying insect; miniature piezoelectric PZN-PT unimorph actuators; rigid wing; rotationally compliant flexure joints; Force control; Force measurement; Insects; Instruments; Life testing; Micromechanical devices; Piezoelectric actuators; Resonance; Strain measurement; Thorax;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933225
