Study on Flapping-Wing Robot Utilizing Resonant Drive

Abstract

This paper describes a flapping-wing robot operated at a low resonant frequency. We proposed a light wing with a thin plate that can be resonated by a small battery integrated in the robot at a frequency of 11 Hz. Flapping angles and thrust forces of the resonant wings were measured and compared with those of the non-resonant wings. Experimental results show that the flapping angle of the resonant wings becomes a maximum value at the resonant frequency of 11 Hz, and thrust force at this frequency is 7.8 gf, which is 35 percent larger than that of non-resonant wings. These results demonstrate the proposed wing with a thin plate is effective at low frequencies near 11 Hz. Furthermore, a non-tethered robot with four resonant wings driven by a DC motor and a lithium polymer buttery successfully flew at the resonant frequency of the wings.