Abstract
Electrohydrodynamic thrust is an emerging propulsion mechanism for flying insect-scale robots. There is a need to both minimize the operating voltage and maximize the output force when designing microfabricated electrodes for use in these robots. In this work, an array of hybrid wire-needle and grid electrode geometries were fabricated and characterized to attempt to minimize both corona discharge onset voltage and thrust loss factor. Statistical analysis of this dataset was performed to screen for factors with significant effects. An optimized emitter electrode decreased onset voltage by 22%. Loss factor was found to vary significantly (as much as 30%) based on collector grid geometric parameters without affecting discharge characteristics. The results from this study can be used to drive further optimization of thrusters, with the final goal of providing a path towards autonomous flying microrobots powered by atmospheric ion engines.
Highlights
Insect-scale robots may one day serve as multifunctional swarm agents, coordinated assembly tools, and disposable mobile sensors [1]
To open up the design space beyond that afforded by these biomimetic structures it may be necessary to change not just the actuator but the propulsion mechanism itself
This contrasts with [25], which noted an effect of the tip angle used for emission on corona discharge current
Summary
Insect-scale robots may one day serve as multifunctional swarm agents, coordinated assembly tools, and disposable mobile sensors [1]. Recent work on flying insect-scale robots (or “pico air vehicles” [2]) has focused primarily on biomimetic propulsion mechanisms, i.e., the motion of flapping wings similar to an insect of the Diptera order. Electrohydrodynamic (EHD) thrust results from the collisions between a neutral fluid and charged particles. Directional momentum transfer is produced by controlling the motion of the charged particles electrostatically, directly converting electrical energy into kinetic energy. The momentum transferring collisions producing the EHD force are more efficient when using ionized molecules instead of electrons due to their higher mass. Corona discharge is the preferred method of producing ions for EHD thrust in atmospheric conditions because it has been found to be relatively repeatable, stable, and high current [8].
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