Towards flapping wing control for a micromechanical flying insect

Considers a 2 DOF resonant thorax structure signed and fabricated for the MFI project. Miniature piezoelectric PZN-PT unimorph actuators were fabricated and used to drive a four-bar transmission mechanism. The current thorax design utilizes two actuated four-bars and a spherical joint to drive a rig...

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Bibliographic Details
Main Authors: Yan, J., Wood, R.J., Avadhanula, S., Sitti, M., Fearing, R.S.
Format: Conference Proceeding
Language:English
Subjects:
Force control
Force measurement
Insects
Instruments
Life testing
Micromechanical devices
Piezoelectric actuators
Resonance
Strain measurement
Thorax
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Summary:Considers a 2 DOF resonant thorax structure signed and fabricated for the MFI project. Miniature piezoelectric PZN-PT unimorph actuators were fabricated and used to drive a four-bar transmission mechanism. The current thorax design utilizes two actuated four-bars and a spherical joint to drive a rigid wing. Rotationally compliant flexure joints have been tested with lifetimes over 10/sup 6/ cycles. Wing spars were instrumented with strain gauges for force measurement and closed-loop wing control.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2001.933225