Flapping-Wing Micro Air Vehicles(FMAVs)are compact and agile,capable of accessing narrow spaces that conventional vehicles struggle to reach,such as ruins,caves,or the interiors of complex structures,making them ideal...Flapping-Wing Micro Air Vehicles(FMAVs)are compact and agile,capable of accessing narrow spaces that conventional vehicles struggle to reach,such as ruins,caves,or the interiors of complex structures,making them ideal tools for reconnaissance and rescue missions.1 However,the operation of FMAVs relies on coordinating multiple forces with different scaling effects,posing challenges to miniaturization design.展开更多
This article presents the design of a microfabricated bio-inspired flapping-wing Nnano Aaerial Vvehicle(NAV),driven by an electromagnetic system.Our approach is based on artificial wings composed of rigid bodies conne...This article presents the design of a microfabricated bio-inspired flapping-wing Nnano Aaerial Vvehicle(NAV),driven by an electromagnetic system.Our approach is based on artificial wings composed of rigid bodies connected by compliant links,which optimise aerodynamic forces though replicating the complex wing kinematics of insects.The originality of this article lies in a new design methodology based on a triple equivalence between a 3D model,a multibody model,and a mass/spring model(0D)which reduces the number of parameters in the problem.This approach facilitates NAV optimisation by using only the mass/spring model,thereby simplifying the design process while maintaining high accuracy.Two wing geometries are studied and optimised in this article to produce large-amplitude wing motions(approximately 40^\circ),and enabling flapping and twisting motion in quadrature.The results are validated thanks to experimental measurements for the large amplitude and through finite element simulations for the combined motion,confirming the effectiveness of this strategy for a NAV weighing less than 40 mg with a wingspan of under 3 cm.展开更多
Flapping-Wing Air Vehicles(FWAVs)have been developed to pursue the efficient,agile,and quiet flight of flying animals.However,unlike lightweight FWAVs capable of vertical takeoff,relatively heavy FWAVs face challenges...Flapping-Wing Air Vehicles(FWAVs)have been developed to pursue the efficient,agile,and quiet flight of flying animals.However,unlike lightweight FWAVs capable of vertical takeoff,relatively heavy FWAVs face challenges in self-takeoff,which refers to taking off without both external device and energy input.In this study,a cliff-drop method is implemented for an independent takeoff of a heavy FWAV,relying solely on gravity.In the takeoff process using the cliff-drop method,the FWAV moves on the ground to a cliff edge using a wheel-driving motor and then descends from the cliff to achieve the necessary speed for flight.To demonstrate the cliff-drop method,the KAIST Robotic Hawk(KRoHawk)with a mass of 740 g and a wingspan of 120 cm is developed.The takeoff tests demonstrate that the KRoHawk,significantly heavier than the vertical-takeoff capable FWAVs,can successfully take off using the gravity-assisted takeoff method.The scalability of cliff-drop method is analyzed through simulations.When drop constraints are absent,the wheel-driving motor mass fraction for cliff-drop method remains negligible even as the vehicle's weight increases.When drop constraints are set to 4 m,FWAVs heavier than KRoHawk,weighing up to 4.4 kg,can perform the cliff-drop takeoffs with a wheel-driving motor mass fraction of less than 8%.展开更多
基金supported by the Scientific Research Innovation Capability Support Project for Young Faculty,China(No.ZYGXQNJSKYCXNLZCXM-D1)the National Natural Science Foundation of China(No.52272384).
文摘Flapping-Wing Micro Air Vehicles(FMAVs)are compact and agile,capable of accessing narrow spaces that conventional vehicles struggle to reach,such as ruins,caves,or the interiors of complex structures,making them ideal tools for reconnaissance and rescue missions.1 However,the operation of FMAVs relies on coordinating multiple forces with different scaling effects,posing challenges to miniaturization design.
基金supported by ANR-ASTRID NANOFLY(ANR-19-ASTR-0023)and French AID(Defense Innovation Agency).
文摘This article presents the design of a microfabricated bio-inspired flapping-wing Nnano Aaerial Vvehicle(NAV),driven by an electromagnetic system.Our approach is based on artificial wings composed of rigid bodies connected by compliant links,which optimise aerodynamic forces though replicating the complex wing kinematics of insects.The originality of this article lies in a new design methodology based on a triple equivalence between a 3D model,a multibody model,and a mass/spring model(0D)which reduces the number of parameters in the problem.This approach facilitates NAV optimisation by using only the mass/spring model,thereby simplifying the design process while maintaining high accuracy.Two wing geometries are studied and optimised in this article to produce large-amplitude wing motions(approximately 40^\circ),and enabling flapping and twisting motion in quadrature.The results are validated thanks to experimental measurements for the large amplitude and through finite element simulations for the combined motion,confirming the effectiveness of this strategy for a NAV weighing less than 40 mg with a wingspan of under 3 cm.
基金supported by Unmanned Vehicles Core Technology Research and Development Program through the National Research Foundation of Korea(NRF)Unmanned Vehicle Advanced Research Center(UVARC)funded by the Ministry of Science and ICT,the Republic of Korea(2020M3C1C1A01083415).
文摘Flapping-Wing Air Vehicles(FWAVs)have been developed to pursue the efficient,agile,and quiet flight of flying animals.However,unlike lightweight FWAVs capable of vertical takeoff,relatively heavy FWAVs face challenges in self-takeoff,which refers to taking off without both external device and energy input.In this study,a cliff-drop method is implemented for an independent takeoff of a heavy FWAV,relying solely on gravity.In the takeoff process using the cliff-drop method,the FWAV moves on the ground to a cliff edge using a wheel-driving motor and then descends from the cliff to achieve the necessary speed for flight.To demonstrate the cliff-drop method,the KAIST Robotic Hawk(KRoHawk)with a mass of 740 g and a wingspan of 120 cm is developed.The takeoff tests demonstrate that the KRoHawk,significantly heavier than the vertical-takeoff capable FWAVs,can successfully take off using the gravity-assisted takeoff method.The scalability of cliff-drop method is analyzed through simulations.When drop constraints are absent,the wheel-driving motor mass fraction for cliff-drop method remains negligible even as the vehicle's weight increases.When drop constraints are set to 4 m,FWAVs heavier than KRoHawk,weighing up to 4.4 kg,can perform the cliff-drop takeoffs with a wheel-driving motor mass fraction of less than 8%.
