Title :
Wing force map characterization and simulation for the micromechanical flying insect
Author :
Yan, Joseph ; Fearing, Ronald S.
Author_Institution :
Dept. of Electr. & Comput. Eng., British Columbia Univ., BC, Canada
Abstract :
The first force map has been generated for a 2 DOF wing designed for the MFI project. For the wing beating at a resonance frequency of 139 Hz, the average 3-D forces were found as a function of sinusoidal voltage amplitude and actuator phase difference. An image sequence of the wing trajectory allowed comparison to simulated forces using a quasi-steady state aerodynamic approximation. Finally, the results were compared to the case of ideally matched leading/lagging wing dynamics driven by sinusoids.
Keywords :
aerodynamics; image sequences; microactuators; microrobots; mobile robots; robot dynamics; 139 Hz; 2 DOF wing; actuator phase difference; image sequence; matched lagging wing dynamics; matched leading wing dynamics; micromechanical flying insect; quasi-steady state aerodynamic approximation; sinusoidal voltage amplitude; wing force map characterization; Actuators; Aerodynamics; Force measurement; Insects; Micromechanical devices; Resonance; Strain measurement; Thorax; Vehicle dynamics; Voltage;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1248831
