인장스프링을 활용한 모터 직접 구동형 양방향 날갯짓 장치 개발

Abstract

This paper proposes a direct-driven bi-directional actuation flapping wings system using an extension spring instead of a torsional spring. Then, the proposed flapping-wing system’s mathematical model is derived and analyzed. A prototype is fabricated using a DC motor, an extension spring, pinion gear, spur gear, and a flapping wing. The performance of the proposed wing is measured using an oscilloscope, a load cell, and a high-speed camera. The results demonstrate that the system works well without fatigue failure or the spring’s mechanical deformation. Additionally, it can generate 11.1 g of thrust when 24 Hz driving signal is applied using 12 V PWM, which is sufficient to fly 20 g micro air vehicles using dual flapping-wing systems. The wing flapping system’s energy consumption is 13.95 W, which means that more than a 1-minute flight is possible using a 7.4 V battery with 70 mAh capacity.