A wing characterization method for flapping-wing robotic insects

This paper presents a wing characterization method for insect-scale flapping-wing robots. A quasi-steady model is developed to predict passive wing pitching at mid-stroke. Millimeter scale wings and passive hinges are manufactured using the SCM fabrication processes. Flapping experiments at various frequencies and driving voltages are performed to extract kinematics for comparison with the quasi-steady predictions. These experiments examine the validity of the quasi-steady model and demonstrate the robustness of the wing characterization method. In addition, because time-averaged lift and drag are strongly correlated with flapping kinematics, quasi-steady prediction of wing kinematics directly leads to predictions of lift and drag generation. Given a flapping frequency and a driving voltage, the model computes the hinge stiffness that leads to optimal flapping kinematics. This reduces the number of flapping experiments required for wing characterization by a factor of four.