Wing Mechanism Research Articles

1P1-F08 圧電繊維複合材料を用いた羽ばたきロボットの研究開発 : 翼機構の改善(飛行ロボット・メカトロニクス)

1P1-F08 圧電繊維複合材料を用いた羽ばたきロボットの研究開発 : 翼機構の改善(飛行ロボット・メカトロニクス)

1121 自励駆動柔軟羽ばたき翼メカニズム(メカニカルシステム(1))

1121 自励駆動柔軟羽ばたき翼メカニズム(メカニカルシステム(1))

3016 トンボの羽ばたきを模倣したMAVの開発 : 羽ばたき運動解析に基づいた羽ばたき機構の開発(S56-3 第13回卒業研究コンテスト(3),S56 第13回卒業研究コンテスト)

3016 トンボの羽ばたきを模倣したMAVの開発 : 羽ばたき運動解析に基づいた羽ばたき機構の開発(S56-3 第13回卒業研究コンテスト(3),S56 第13回卒業研究コンテスト)

Materials challenges in the design of an insect-like flapping wing mechanism based on a four-bar linkage

This paper describes materials challenges, and how they were met, in the design of a four-bar linkage mechanism driving a test-bed for an insect-like flapping wing micro air vehicle. In the design process, both aerodynamic and dynamic simulations were made, but could not resolve all uncertainties regarding the forces acting on the mechanism. This difficulty was resolved by a combination of: (1) a simulation parametric study; (2) an experimental programme devised according to the results of the study; (3) by the use of carbon/epoxy composite for critical elements. Application of carbon/epoxy composites not only allowed to overcome uncertainties, but also provided a potential for future research and development. A complete mechanism was manufactured, assembled and tested; it works reliably and generates useful data for further aeromechanical research.

Attitude Control of Quad Rotors QTW-UAV with Tilt Wing Mechanism

In this paper, we propose the autonomous attitude control of Quad Tilt Wing (QTW) -UAV. QTW-UAV can realize the vertical takeoff and landing, and hovering flight that seems to be the helicopter, and the high cruising speed that seems to be the fixed-wing aircraft by changing an angle of a rotors and wings by using tilt mechanism. Firstly, we make the attitude model of QTW-UAV by using identification method. Secondly, we designed attitude control system with kalman filter based LQI control method. And lastly, we show the experiment result. The experiment result shows model based control design are very useful for autonomous control for QTW-UAV.

2A2-A01 パンタグラフ式可変翼機構を用いた飛行ロボットの最適設計と実験的評価(飛行ロボット・メカトロニクス)

This paper presents experimental and simulational studies on the design parameter optimization for the flying robot with pantograph-based variable wing mechanism. A key feature of the mechanism is not only to change attack angles but also to expand and contract according to wing positions. Our previous simulation results have shown that the flying robot with the optimized design parameters can generate 180gf payload. In this paper, we build the flying robot with the optimized design parameters and investigate its payload performance. Experimental results show that the robot can generate 140gf payload. However, experimental results do not agree well with simulation results. Hence, we construct a new simulation model by introducing parameter identification of aerodynamical coefficients with experimental data, The new simulation model agrees with experimental results. As a result of optimization using the new simulation model, we obtain the new optimal parameter with l6Ogf payload.

Design and evaluation of a LIPCA-actuated flapping device

In this paper, we have introduced a flapping wing mechanism actuated by a unimorphpiezoceramic actuator, LIPCA (lightweight piezo-composite actuator). In theflapping system, the limited actuation displacement produced by bending motion ofthe simply supported actuator was transformed into a large flapping angle byusing a four-bar linkage system. A wing rotation mechanism was also designed andimplemented such that the wing can be passively rotated due to the resultantaerodynamic force during flapping motion. The natural flapping frequency of the devicewas about 9 Hz, where the maximum flapping angle was achieved. Flapping testsunder 4–15 Hz flapping frequencies were performed to investigate the flappingperformance by measuring the vertical force and forward force produced. The maximumforces were produced when the flapping device was actuated near the naturalflapping frequency. The measured force data indicated that the present flappingsystem could produce positive average forces in the vertical and forward directions.

Identification of a Common Deletion in Different Curly Mutants in Drosophila Melanogaster

Curly is a easily distinguishable dominant mutant wing character. The Cy mutation is the most commonly used dominant marker for the second chromosome balancers in Drosophila melanogaster, but little is known about the Cy gene. Based on known genomic and cytogenetic information, a 102 bp deletion which is located between the Genes synaptotagmin (syt) and Activin Like Protein at 23B(Alp23B) on the Drosophila melanogaster genome (release 4) had been found to be commonly contained on Cy chromosome in three different curly strains. Meanwhile, when using the deletion as a DNA marker, the result suggested that Cy homozygote be lethal in embryo period. These results will provide some helpful information to investigate molecular mechanism of curly wings in the further study.

2P2-C06 パンタグラフ式可変翼機構を用いた回転翼型飛行ロボットの開発

2P2-C06 パンタグラフ式可変翼機構を用いた回転翼型飛行ロボットの開発

Insect-like flapping wing mechanism based on a double spherical Scotch yoke.

We describe the rationale, concept, design and implementation of a fixed-motion (non-adjustable) mechanism for insect-like flapping wing micro air vehicles in hover, inspired by two-winged flies (Diptera). This spatial (as opposed to planar) mechanism is based on the novel idea of a double spherical Scotch yoke. The mechanism was constructed for two main purposes: (i) as a test bed for aeromechanical research on hover in flapping flight, and (ii) as a precursor design for a future flapping wing micro air vehicle. Insects fly by oscillating (plunging) and rotating (pitching) their wings through large angles, while sweeping them forwards and backwards. During this motion the wing tip approximately traces a "figure-of-eight" or a "banana" and the wing changes the angle of attack (pitching) significantly. The kinematic and aerodynamic data from free-flying insects are sparse and uncertain, and it is not clear what aerodynamic consequences different wing motions have. Since acquiring the necessary kinematic and dynamic data from biological experiments remains a challenge, a synthetic, controlled study of insect-like flapping is not only of engineering value, but also of biological relevance. Micro air vehicles are defined as flying vehicles approximately 150 mm in size (hand-held), weighing 50-100g, and are developed to reconnoitre in confined spaces (inside buildings, tunnels, etc.). For this application, insect-like flapping wings are an attractive solution and hence the need to realize the functionality of insect flight by engineering means. Since the semi-span of the insect wing is constant, the kinematics are spatial; in fact, an approximate figure-of-eight/banana is traced on a sphere. Hence a natural mechanism implementing such kinematics should be (i) spherical and (ii) generate mathematically convenient curves expressing the figure-of-eight/banana shape. The double spherical Scotch yoke design has property (i) by definition and achieves (ii) by tracing spherical Lissajous curves.

トンボの翅の振動特性を有した羽ばたき機構の開発(バイオメカトロニクス/ミメティクス)

トンボの翅の振動特性を有した羽ばたき機構の開発(バイオメカトロニクス/ミメティクス)

On aerodynamic modelling of an insect–like flapping wing in hover for micro air vehicles

This theoretical paper discusses recent advances in the fluid dynamics of insect and micro air vehicle (MAV) flight and considers theoretical analyses necessary for their future development. The main purpose is to propose a new conceptual framework and, within this framework, two analytic approaches to aerodynamic modelling of an insect-like flapping wing in hover in the context of MAVs. The motion involved is periodic and is composed of two half-cycles (downstroke and upstroke) which, in hover, are mirror images of each other. The downstroke begins with the wing in the uppermost and rearmost position and then sweeps forward while pitching up and plunging down. At the end of the half-cycle, the wing flips, so that the leading edge points backwards and the wing's lower surface becomes its upper side. The upstroke then follows by mirroring the downstroke kinematics and executing them in the opposite direction. Phenomenologically, the interpretation of the flow dynamics involved, and adopted here, is based on recent experimental evidence obtained by biologists from insect flight and related mechanical models. It is assumed that the flow is incompressible, has low Reynolds number and is laminar, and that two factors dominate: (i) forces generated by the bound leading-edge vortex, which models flow separation; and (ii) forces due to the attached part of the flow generated by the periodic pitching, plunging and sweeping. The first of these resembles the analogous phenomenon observed on sharp-edged delta wings and is treated as such. The second contribution is similar to the unsteady aerodynamics of attached flow on helicopter rotor blades and is interpreted accordingly. Theoretically, the fluid dynamic description is based on: (i) the superposition of the unsteady contributions of wing pitching, plunging and sweeping; and (ii) adding corrections due to the bound leading-edge vortex and wake distortion. Viscosity is accounted for indirectly by imposing the Kutta condition on the trailing edge and including the influence of the vortical structure on the leading edge. Mathematically, two analytic approaches are proposed. The first derives all the quantities of interest from the notion of circulation and leads to tractable integral equations. This is an application of the von Kármán-Sears unsteady wing theory and its nonlinear extensions due to McCune and Tavares; the latter can account for the bound leading-edge vortex and wake distortion. The second approach uses the velocity potential as the central concept and leads to relatively simple ordinary differential equations. It is a combination of two techniques: (i) unsteady aerodynamic modelling of attached flow on helicopter rotor blades; and (ii) Polhamus's leading-edge suction analogy. The first of these involves both frequency-domain (Theodorsen style) and time-domain (indicial) methods, including the effects of wing sweeping and returning wake. The second is a nonlinear correction accounting for the bound leading-edge vortex. Connections of the proposed framework with control engineering and aeroelasticity are pointed out.

354 鳥の羽ばたき機構の研究 : ホバリング時における最大推力発生のための最適学習制御

We have made a robot which has the mechanism of flapping of wings. We have measured the aerodynamic force of flapping of wings. We used a magnetic suspension and balance system for the measurement. We are considering the possibility of flapping mechanism of wings using a neural network.

Acoustics of a small Australian burrowing cricket: the control of low-frequency pure-tone songs.

For most insects, size determines the call frequency. This paper describes the acoustics of a small brachypterous cricket (Rufocephalus sp.; body length 9.6 mm) producing a call with a carrier frequency of approximately 3.2 kHz from a subterranean burrow. Crickets such as Gryllus campestris are approximately twice this length and produce a call frequency close to 5 kHz. The burrow of Rufocephalus opens via a small hole with a diameter of 3.2 mm. The neck of the hole at approximately 1.4 mm depth opens to a vertical two-part burrow with an upper vase-shaped chamber 16.1 mm in height with a diameter of 9.4 mm. This top chamber connects via a 6.4mm high (diameter 5.2 mm) neck to a more irregular chamber approximately 18 mm high with a width of approximately 11 mm. The walls of the top chamber neck and of the upper part of the lower chamber are smooth and appear to be sealed with saliva. The song has a mean centre frequency of 3.2 kHz and is made up of variable-length trills of pulses of mean duration 15.8 ms. Many song pulses had smooth envelopes and their frequency did not vary by more than +/-40Hz from the centre frequency, with a relative bandwidth Q-3dB of over 50. Other pulses showed considerable amplitude and frequency modulation within the pulse. When driven by external sound, burrows resonated at a mean frequency of 3.5 kHz with a mean quality factor Q of 7.4. Natural-size model burrows resonated at similar frequencies with similar Q values. One cricket, which had previously called from its own burrow at 2.95 kHz, sang at 3.27 kHz from a burrow that resonated at the same frequency. Life-size model burrows driven by external sound resonated at similar frequencies to the actual burrows; models three times life size resonated at one-third of this frequency. In all models, the sound pressure was more-or-less constant throughout the top chamber but fell rapidly in the neck of the burrow; the phase of the sound was effectively constant in the top chamber and neck and fell through approximately 180 degrees in passing from the neck into the lower chamber. A numerical model of the sound flow from region to region gave essentially similar results. A resonant electrical model fed from a high-impedance source with discrete tone bursts at different frequencies showed similar amplitude and frequency modulation to the various types of song pulses that were observed. It is suggested that the high purity of the songs results from close entrainment of the sound-producing mechanism of the insect's wings to the sharply resonant burrow.

A computational model for estimating the mechanics of horizontal flapping flight in bats: model description and validation.

We combine three-dimensional descriptions of the movement patterns of the shoulder, elbow, carpus, third metacarpophalangeal joint and wingtip with a constant-circulation estimation of aerodynamic force to model the wing mechanics of the grey-headed flying fox (Pteropus poliocephalus) in level flight. Once rigorously validated, this computer model can be used to study diverse aspects of flight. In the model, we partitioned the wing into a series of chordwise segments and calculated the magnitude of segmental aerodynamic forces assuming an elliptical, spanwise distribution of circulation at the middle of the downstroke. The lift component of the aerodynamic force is typically an order of magnitude greater than the thrust component. The largest source of drag is induced drag, which is approximately an order of magnitude greater than body form and skin friction drag. Using this model and standard engineering beam theory, we calculate internal reaction forces, moments and stresses at the humeral and radial midshaft during flight. To assess the validity of our model, we compare the model-derived stresses with our previous in vivo empirical measurements of bone strain from P. poliocephalus in free flapping flight. Agreement between bone stresses from the simulation and those calculated from empirical strain measurements is excellent and suggests that the computer model captures a significant portion of the mechanics and aerodynamics of flight in this species.

A113昆虫の翅の運動機構に関する研究

The purpose of this study is to analyze the mechanism of a small insect's wing to make the micro machine which is able to move and fly everywhere in three dimensional area. We investigate the structure of small insects and take photographs of the insects, which are Aulacophora nigripennis and Harmonic axyridis, by using the high speed video camera. Then we obtained the locus of the wings, and the following three flapping parameters; the flapping angle, the period and the velocity. After all we reach the conclusions as follows; 1) The upper wing moves simulateneously with the wing. 2) The Aulacophora nigripennis and Harmonia axyridis have similar posture in flying. From these consequences, we know the mechanism which is suitable for the body size of small insects.

Wing mechanism analysis

For container launched and airborne missiles some wings have to be folded or undeployed for a minimum storage capacity. After leaving the container, the wings will be deployed to achieve the full aerodynamic performance and stability. The wing folding and deployment process is herein simulated by a finite element analysis using ADINA. The static, dynamic and strength behavior of the wing mechanism is discussed for a container launched missile.

Bionic Design Based on Modelling of Flight Muscle of Insects. 1st Report. Vibration Mechanism of Wing.

Elucidation of the vibration mechanism of winged insect from the viewpoint of bionic design might aid in development and design of the driving systems for small- or micro-size actuators, because some flying insects easily overcome scale effects through use of wing vibration and achieve flight with high robustness and speed under conditions of large air viscosity. The aim of this report is to describe a theoretical model of the dynamics of relatively large-size insect wings powered by the direct-flight-muscle and of the dynamics of small-size insect wings powered by the indirect-flight-muscle. Based on morphological consideration of these two types of insect wing dynamics, the equations of motion for the wings are formulated. In the model, the dry friction-type and van der Pol-type forces are employed to power the wings of direct-flight-muscle-type insects, and the periodic impulsive force is assumed to power the wings of indirect-flight-muscle-type insects. Applying the equations of motion to the wings of insects such as dragonflies and flies, the wing vibration is analyzed under various conditions. From the numerical results, the vibration mechanism of two types of flying insects' wings is clarified.

Lightweight inflatable solar array

A lightweight deployable solar array wing in the 200-1000-W range has been developed, on the Inflatable Torus Solar Array Technology Demonstration (ITSAT Demo) Project. The power density of a flight unit could be as high as 93 W/kg for a 200 W-class wing, including structure and deployment mechanisms. In Phase I, a proof-of-concept torus and array were constructed and deployed in the laboratory. During Phase II, a revised torus and array were constructed and tested at L'Garde and the Naval Research Laboratory. The qualification tests included random vibration, deployment in a thermal vacuum chamber, natural frequency determination, and thermal cycling. The flight design uses 2-milthick crystalline silicon cells on an atomic oxygen-protected flexible Kapton film substrate folded accordion style for stowage. The support structure is a rectangular frame comprised of two cylinders (which are inflated then rigidized), the array stowage box, and its cover. The cylinders, flattened, folded and stored for launch, are deployed by inflating with N2 and rigidized by straining the cylinder laminate material controllably beyond the elastic limit. The engineering protoflight array was designed for optimum power density but, because of availability, some of the components came from excess production runs. Because of this, the actual power density of the test article was 59 W/kg, or 36% lower than the baseline flight array. However, using components as designed, the projected 93 W/kg can be achieved. Because of a simple deployment mechanism, the cost of an ITSAT-type solar array is about one-half to two-thirds that of competing systems.

Study on an Oscillating Wing Propulsion Mechanism. 2nd Report. Case of Two-Dimensional Symmetry Wing.

Among aquatic animals, tuna, mackerel and dolphin seem to have achieved a high-speed and high-efficiency swimming method. Their measured speeds are sometimes higher than those of the theoretical estimations. We investigate the propulsion mechanism by modeling their caudal fin movement as a simple mechanism of two hinges, a rigid caudal arm and a rigid wing. The mechanism enables simultaneous wing heaving and pitching motions. In this study we determine the most effective motion of the wing in the case of an NACA 0015 wing section profile. The calculation result showed that the wing profile was much more effective than a flat plate wing profile. Furthermore, we present an analysis of the behavior of characteristic quantities of oscillating wing mechanism at large swimming number.