Biomechanics of smart wings in a bat robot: morphing wings using SMA actuators

Colorado Montaño, Julián and Barrientos Cruz, Antonio and Rossi, Claudio and Breuer, Kenny (2012). Biomechanics of smart wings in a bat robot: morphing wings using SMA actuators. "Bioinspiration & Biomimetics", v. 7 ;

Description

Title: Biomechanics of smart wings in a bat robot: morphing wings using SMA actuators
Author/s:
  • Colorado Montaño, Julián
  • Barrientos Cruz, Antonio
  • Rossi, Claudio
  • Breuer, Kenny
Item Type: Article
Título de Revista/Publicación: Bioinspiration & Biomimetics
Date: 26 April 2012
Volume: 7
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Electrónica, Automática e Informática Industrial [hasta 2014]
Creative Commons Licenses: None

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Abstract

This paper presents the design of a bat-like micro aerial vehicle with actuated morphing wings. NiTi shape memory alloys (SMAs) acting as artificial biceps and triceps muscles are used for mimicking the morphing wing mechanism of the bat flight apparatus. Our objective is twofold. Firstly, we have implemented a control architecture that allows an accurate and fast SMA actuation. This control makes use of the electrical resistance measurements of SMAs to adjust morphing wing motions. Secondly, the feasibility of using SMA actuation technology is evaluated for the application at hand. To this purpose, experiments are conducted to analyze the control performance in terms of nominal and overloaded operation modes of the SMAs. This analysis includes: (i) inertial forces regarding the stretchable wing membrane and aerodynamic loads, and (ii) uncertainties due to impact of airflow conditions over the resistance–motion relationship of SMAs. With the proposed control, morphing actuation speed can be increased up to 2.5 Hz, being sufficient to generate lift forces at a cruising speed of 5ms−1.

More information

Item ID: 13760
DC Identifier: http://oa.upm.es/13760/
OAI Identifier: oai:oa.upm.es:13760
Deposited by: PhD Candidate Julian Colorado
Deposited on: 24 Oct 2012 07:03
Last Modified: 21 Apr 2016 13:07
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