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TECHNICAL BRIEFS

Design and Optimization of a Mechanism for Out-of-Plane Insect Winglike Motion With Twist

[+] Author and Article Information
Sai K. Banala

Mechanical Systems Lab, Department of Mechanical Engineering,  University of Delaware, Newark, DE 19716

Sunil K. Agrawal

Mechanical Systems Lab, Department of Mechanical Engineering,  University of Delaware, Newark, DE 19716agrawal@me.udel.edu

J. Mech. Des 127(4), 841-844 (Feb 25, 2005) (4 pages) doi:10.1115/1.1924474 History: Received May 27, 2004; Revised February 25, 2005

A mechanism is presented that can generate insect winglike motion. This motion includes both flapping out of the stroke plane in addition to twist of the wing. The mechanism has a single degree of freedom and employs a five-bar mechanism in addition to an auxiliary four-bar mechanism. The parameters in the mechanism were optimized to generate a prescribed motion of the wing taken from a hawk moth kinematic flight data. A scaled model of the mechanism was fabricated to verify practical feasibility of the design. In future, we will miniaturize this mechanism on our flying-bird prototypes.

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Copyright © 2005 by American Society of Mechanical Engineers
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Figures

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Figure 1

Wing-tip path, stroke, and sagittal planes of an insect

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Figure 2

Wing-tip path and wing cross section of a fly in a sagittal plane at various instants, as seen from positive Z-axis (8)

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Figure 3

Mechanism in midsagittal plane of the insect

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Figure 4

Mechanism in front view. Wings on either side of midsagittal plane are also shown.

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Figure 5

3D view of entire mechanism

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Figure 6

Model of the flapping-wing robot

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Figure 7

Close-up view of the mechanism

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Figure 8

Wing-tip path and twist obtained from forward kinematics, as seen from positive Z-axis

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Figure 9

Wing-tip path for three flight speeds. Solid: optimized; dotted: reference.

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Figure 10

Wing twist for three flight speeds. Solid: optimized; dotted: reference.

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