A Differentially Driven Flapping Wing Mechanism for Force Analysis and Trajectory Optimization

Abstract

Flapping flight has the potential to revolutionize micro air vehicles (MAVs) due to increased aerodynamic performance, improved maneuverability, and hover capabilities. This paper presents the design of a robotic flapping wing mechanism for use in general studies involving flapping flight and laboratory-based experimental optimization of flapping trajectories. The design allows for dynamic adjustment of flapping trajectories in air or liquids with three rotational degrees of freedom on each wing. The design, instrumentation, and control of the mechanism are discussed, and experimental characterization of the mechanism's performance is presented. Preliminary trajectory optimization using a Box-Behnken design approach is used and shows successful parameter optimization. The limitations of the current mechanism are addressed. A survey of flapping mechanisms is presented.