Synthesis of a Flapping Wing Mechanism using a Constrained Spatial RRR Serial Chain

[+] Author and Article Information
Peter L Wang

Robotics and Automation Laboratory

Haithem Taha

Flight Dynamics Laboratory

J. Michael McCarthy

Robotics and Automation Laboratory, Department of Mechanical and Aerospace Engineering, University of California, Irvine, California 92697

1Corresponding author.

ASME doi:10.1115/1.4038529 History: Received May 25, 2017; Revised October 27, 2017


This paper designs a one degree-of-freedom spatial flapping wing mechanism for a hovering micro air vehicle by constraining a spatial RRR serial chain using two SS dyads. The desired wing movement defines that dimensions and joint trajectories of the RRR spatial chain. Seven configurations of the chain are selected to define seven precision points that are used to compute SS chains that control the swing and pitch joint angles. The result is a spatial RRR-2SS Flapping Wing Mechanism that transforms the actuator rotation into control of wing swing and pitch necessary for a hovering flight of a micro air vehicle.

Copyright (c) 2017 by ASME
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