Design and manufacture of a self-learning flapping wing-actuation system for a Dragonfly-inspired MAV
Date
2016
Authors
Kok, J.M.
Chahl, J.S.
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Conference paper
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Proceedings of the 54th AIAA Aerospace Sciences Meeting, 2016, vol.0, pp.1-17
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54th AIAA Aerospace Sciences Meeting (4 Jan 2016 - 8 Jan 2016 : San Diego, California, US)
Abstract
In this paper we discuss the design and manufacture of a wing-actuation system for a dragonfly-inspired Micro Air Vehicle (DI-MAV). Dragonflies were chosen as the species toreplicate because of their ability to perform glide, hover and complex manoeuvres well. We begin by isolating the characteristics of the dragonfly that make it such an excellentflyer - namely its wing-actuation system and unique flapping profile. The wing-actuation system is designed around a system of bearings which allow smooth articulation in 3 axisof rotation. The wing is a Mylar/carbon construct, and the thorax is manufactured using a mix of plastic and aluminium. The biology suggests that the flapping profile needs tobe tuned to the wing-actuation system, which requires it to be controllable. Using 3 solenoids, we are able to articulate the wing in 3 degrees-of-freedom (DOF). Controllingthe solenoids were achieved via motor drivers, that receives sinusoidal inputs from a work station computer. The three solenoid inputs are represented by 8 parameters in total.These are the magnitudes of oscillation (A1, A2, A3), the offsets (B1, B2, B3), and the phase (Θ2, Θ3). Initial studies were done with the third degree-of-freedom in the roll axis fixed.The only parameters that were tested were A1, A2, B1, B2, Θ2. A negative change in Θ2 caused the wing rotation to be phase-shifted such that positive angles-of-attack were maintainedin the up and downstrokes. In the Θ2 = −100deg case, the amplitude of rotation is also increased. Θ2 was then modulated in the positive direction. It was found that there wasan increase in the amplitude of wing rotation, however there was no phase shifting. We then modulated A1 and A2. Increasing A1 and reducing A2 caused the amplitude of rotationto increase, and the reverse was true with decreasing A1 and increasing A2. Increasing B1 and reducing B2 caused the amplitude of wing rotation to increase and the mean valueto decrease. The opposite was true when B2 was reduced and B1 was increased. This shows that using 2 degrees-of-freedom, we are able to control wing rotation, one of thekey characteristics of the dragonfly wing-actuator. We then modulate A3 and Θ3. B3 was kept constant at 400 because this is the offset which is required to keep the wing level. AtΘ3 = 0, a "Figure-of-eight" profile was observed. Modulating A3 changed the amplitude of that profile slightly, but the change was not significant. We then alter Θ3. It was found thatthis caused the "Figure-of-eight" pattern to change to an "O-shaped" pattern. Negative Θ3 caused a clockwise rotation, whilst the reverse was true for positive Θ3. We demonstratethe ability to control the system in 3 degrees-of-freedom.
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Copyright 2016 by Mr Jia Ming Kok