Abstract
Successful demonstrations of controlled flight in flying insect-sized robots (FIRs) $ 500 mg have all relied on piezo-actuated flapping wings because of unfavorable downward size scaling in motor-driven propellers. In practice, the mechanical complexity of flapping wings typically results in large torque bias variability about pitch and roll axes, leading to rapid rotation in free flight for vehicles that are not properly trimmed. Manual trimming by watching high-speed video is tedious and error-prone. In this letter, we introduce an alternative, a trimming device that uses feedback from motion capture cameras to determine and correct for bias torques. It does so using an automated feedback loop, without the need for any visual feedback from the user, or airborne flights which can damage the robot. We validated the device on two different robot flies. After trimming with our device, the robots both took off approximately vertically in open-loop and were able to hover in free flight under feedback control. Our system, therefore, reduces the time of essential yet time-consuming step in robot fly fabrication, facilitating their eventual mass production and practical application.
Highlights
1.1 MotivationDue to their small size and ability to explore confined spaces, flying insect-sized robots (FIRs) can be used in search and rescue missions
In [5] a four-wing design with increased payload capacity and steering actuation was demonstrated, this work elucidated the controller design for FIRs. It focused on the adaptive component used to control four wing robots which is important in robots with flapping wing mechanism due error in thrust vector direction because of manufacturing uncertainties. [6] introduced an alternative design actuated by uniomorph actuators
In the context of small flapping-wing robots like FIRs, trimming at such small scales entails two challenges that distinguish it from larger vehicles: (1) Rotational acceleration rates increase as size scale diminishes [9, 10], making the dynamics of small vehicles fast
Summary
Due to their small size and ability to explore confined spaces, flying insect-sized robots (FIRs) can be used in search and rescue missions. They are inexpensive and extremely lightweight—with a mass measured in milligrams—making them an appealing alternative to large rovers for space exploration. We can potentially send thousands of these robots in space at very low cost for expeditions and data gathering. They might be used for crop monitoring in farming applications. We need ways to pollinate plants without them Due to their light weight and small size FIRs are viable alternatives to pollinate flowers or plants in future
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