Abstract
ABSTRACTThe stroke-cam flapping mechanism presented in this paper closely mimics the wing motion of a hovering Rufous hummingbird. It is the only lightweight hummingbird-sized flapping mechanism which generates a harmonic wing stroke with both a high flapping frequency and a large stroke amplitude. Experiments on a lightweight prototype of this stroke-cam mechanism on a 50 mm-long wing demonstrate that a harmonic stroke motion is generated with a peak-to-peak stroke amplitude of 175° at a flapping frequency of 40 Hz. It generated a mass lifting capability of 5.1 g, which is largely sufficient to lift the prototype's mass of 3.39 g and larger than the mass-lifting capability of a Rufous hummingbird. The motor mass of a hummingbird-like robot which drives the stroke-cam mechanism is considerably larger (about five times) than the muscle mass of a hummingbird with comparable load-lifting capability. This paper presents a flapping wing nano aerial vehicle which is designed to possess the same lift- and thrust-generating principles of the Rufous hummingbird. The application is indoor flight. We give an overview of the wing kinematics and some specifications which should be met to develop an artificial wing, and also describe the applications of these in the mechanism which has been developed in this work.
Highlights
Indoor NAVs: agility, size and payload Recent innovations in microelectronics, material science and mechanical miniaturization such as small MEMS accelerometers and gyroscopes, LiPo batteries and efficient micro-mechanical motors, have made it possible to develop flight vehicles at the socalled nano-scale; nano air vehicles or NAVs with a wingspan small enough to fly indoors.These NAVs can be used for indoor missions such rescue, surveillance, security, inspection of calamities in contaminated spaces or any other first responder applications.NAVs designed for indoor use face certain design constraints concerning size, weight and agility
Comparison of the resulting wing motion generated by the stroke-cam mechanism with the wing motion of the Rufous hummingbird Fig. 4 shows the wing kinematics of a Rufous hummingbird (Tobalske et al, 2007)
This paper presents the concept of a drive system for a hummingbird-like robot with flapping wings in hovering flight, with the Rufous hummingbird having served as a reference
Summary
Indoor NAVs: agility, size and payload Recent innovations in microelectronics, material science and mechanical miniaturization such as small MEMS accelerometers and gyroscopes, LiPo batteries and efficient micro-mechanical motors, have made it possible to develop flight vehicles at the socalled nano-scale; nano air vehicles or NAVs with a wingspan small enough to fly indoors.These NAVs can be used for indoor missions such rescue, surveillance, security, inspection of calamities in contaminated spaces or any other first responder applications.NAVs designed for indoor use face certain design constraints concerning size, weight and agility. Indoor NAVs: agility, size and payload Recent innovations in microelectronics, material science and mechanical miniaturization such as small MEMS accelerometers and gyroscopes, LiPo batteries and efficient micro-mechanical motors, have made it possible to develop flight vehicles at the socalled nano-scale; nano air vehicles or NAVs with a wingspan small enough to fly indoors. These NAVs can be used for indoor missions such rescue, surveillance, security, inspection of calamities in contaminated spaces or any other first responder applications.
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