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Zhang, Chao and Rossi, Claudio and He, Wei and Colorado Montaño, Julián (2016). Virtual-work-based optimization design on compliant transmission mechanism for flapping-wing aerial vehicles. In: "MARSS 2016", 18/07/2016 - 22/07/2016, Paris, France. ISBN 978-1-5090-1511-5. pp. 1-6. https://doi.org/10.1109/MARSS.2016.7561715.
Title: | Virtual-work-based optimization design on compliant transmission mechanism for flapping-wing aerial vehicles |
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Author/s: |
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Item Type: | Presentation at Congress or Conference (Article) |
Event Title: | MARSS 2016 |
Event Dates: | 18/07/2016 - 22/07/2016 |
Event Location: | Paris, France |
Title of Book: | Manipulation, Automation and Robotics at Small Scales (MARSS) |
Date: | 8 September 2016 |
ISBN: | 978-1-5090-1511-5 |
Subjects: | |
Freetext Keywords: | vehicle dynamics, aerodynamics, aerospace components, airccraft, compliant mechanisms,design engineering, power transmission (mechanical), torque |
Faculty: | Centro de Automática y Robótica (CAR) UPM-CSIC |
Department: | Otro |
Creative Commons Licenses: | Recognition - No derivative works - Non commercial |
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This paper presents a method for analyzing and optimizing the design of a compliant transmission mechanism for a flapping-wing aerial vehicle. Its purpose is of minimizing the peak input torque required from a driving motor. In order to maintain the stability of flight, minimizing the peak input torque is necessary. To this purpose, first, a pseudo-rigid-body model was built and a kinematic analysis of the model was carried out. Next, the aerodynamic torque generated by flapping wings was calculated. Then, the input torque required to keep the flight of the vehicle was solved by using the principle of virtual work. The values of the primary attributes at compliant joints (i.e., the torsional stiffness of virtual spring and the initial neutral angular position) were optimized. By comparing to a full rigid-body mechanism, the compliant transmission mechanism with well-optimized parameters can reduce the peak input torque up to 66.0%.
Type | Code | Acronym | Leader | Title |
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Madrid Regional Government | S2013/MIT-2748 | RoboCity2030-III-CM | Universidad Politécnica de Madrid | Robótica aplicada a la mejora de la calidad de vida de los ciudadanos (fase III) |
Item ID: | 44035 |
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DC Identifier: | http://oa.upm.es/44035/ |
OAI Identifier: | oai:oa.upm.es:44035 |
DOI: | 10.1109/MARSS.2016.7561715 |
Official URL: | http://ieeexplore.ieee.org/document/7561715/ |
Deposited by: | Memoria Investigacion |
Deposited on: | 04 Apr 2017 15:36 |
Last Modified: | 04 Apr 2017 15:36 |