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Design Innovation Paper

Design of a Flapping Wing Mechanism to Coordinate Both Wing Swing and Wing Pitch

[+] Author and Article Information
Peter L. Wang

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

J. Michael McCarthy

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

Manuscript received September 22, 2017; final manuscript received December 6, 2017; published online January 29, 2018. Assoc. Editor: Andrew P. Murray.

J. Mechanisms Robotics 10(2), 025003 (Jan 29, 2018) (6 pages) Paper No: JMR-17-1316; doi: 10.1115/1.4038979 History: Received September 22, 2017; Revised December 06, 2017

This paper presents a design procedure to achieve a flapping wing mechanism for a micro-air vehicle that coordinates both the wing swing and wing pitch with one actuator. The mechanism combines a planar four-bar linkage with a spatial four-bar linkage attached to the input and output links forming a six-bar linkage. The planar four-bar linkage was designed to control the wing swing trajectory profile and the spatial four-bar linkage was designed to coordinate the pitch of the wing to the swing movement. Tolerance zones were specified around the accuracy points, which were then sampled to generate a number of design candidates. The result was 29 designs that achieve the desired coordination of wing swing and pitch, and a prototype was constructed.

FIGURES IN THIS ARTICLE
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Copyright © 2018 by ASME
Topics: Wings , Linkages , Design
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References

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Figures

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Fig. 3

Comparison of the task swing function q(θ) and the output of the swing mechanism γ¯(θ)

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Fig. 2

The wing swing and wing pitch functions

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Fig. 1

The six-bar mechanism is composed of the spatial RSSR and planar four-bar mechanisms. The frames of reference used to define the rotation axes are shown.

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Fig. 10

Physical model of the flapping wing mechanism

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Fig. 11

Gear train and input cranks of the physical model of the flapping wing mechanism

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Fig. 4

The plot of a noncontinuous solution

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Fig. 5

The required pitch path versus selected pitch path

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Fig. 6

The planar mechanism NGED

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Fig. 7

Planar spatial flapping wing mechanism

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Fig. 8

Solid model of the full flapping wing assembly

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Fig. 9

The SolidWorks pitch angle versus required pitch path versus selected pitch path

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