Research Papers

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

[+] Author and Article Information
Peter L. Wang

Robotics and Automation Laboratory,
University of California,
Irvine, CA 92697
e-mail: wangpl1@uci.edu

Haithem E. Taha

Flight Dynamics Laboratory,
University of California,
Irvine, CA 92697
e-mail: hetaha@uci.edu

J. Michael McCarthy

Robotics and Automation Laboratory,
Department of Mechanical and
Aerospace Engineering,
University of California,
Irvine, CA 92697
e-mail: jmmccart@uci.edu

Manuscript received May 25, 2017; final manuscript received October 27, 2017; published online December 20, 2017. Assoc. Editor: Robert J. Wood.

J. Mechanisms Robotics 10(1), 011005 (Dec 20, 2017) (7 pages) Paper No: JMR-17-1159; doi: 10.1115/1.4038529 History: Received May 25, 2017; Revised October 27, 2017

This paper designs a one degree-of-freedom (1DOF) 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 the 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 hovering flight of a micro-air vehicle.

Copyright © 2018 by ASME
Topics: Chain , Design , Wings , Vehicles
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Fig. 1

The spatial RRR-2SS linkage constructed by constraining a spatial RRR serial chain using two SS dyads that connect the second and third links to the ground frame

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Fig. 2

The link OA of the RRR-2SS linkage is held fixed so the interconnected cranks supporting the joints C and F simultaneously drive the links AD and DE

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Fig. 3

The wing swing and wing pitch functions recommended by Yan et al. [3]

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Fig. 4

The precision points selected for the synthesis of the swing and pitch linkages. The precision points are shifted slightly from the required curves in the design process.

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Fig. 5

The movement of the swing control with link BC and pitch control with link EF

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Fig. 7

A motor drives links OC and OF at the same velocity via a simple gear train. Links OC and OF control swing and pitch, respectively.

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Fig. 8

The process used to find successful solutions to the design equations involves adjustment of the precision points within user defined tolerance zones. Iteration of this procedure produces a large number of design candidates.

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Fig. 9

The geometric model with the wings attached showing the rear of the model

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Fig. 10

Front view of the physical model without the wings

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Fig. 11

The wing swing mechanism of the physical model

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Fig. 6

Geometric model of the RRR-2SS flapping wing mechanism. The wing is attached to link DE. The pitch of the wing is controlled by link EF, which connects the lower gear and the wing. Link ABD controls the swing of the wing and connects the wing, the structural frame, and link BC.



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