Virtual-work-based optimization design on compliant transmission mechanism for flapping-wing aerial vehicles

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.

Description

Title: Virtual-work-based optimization design on compliant transmission mechanism for flapping-wing aerial vehicles
Author/s:
  • Zhang, Chao
  • Rossi, Claudio
  • He, Wei
  • Colorado Montaño, Julián
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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Abstract

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%.

Funding Projects

TypeCodeAcronymLeaderTitle
Madrid Regional GovernmentS2013/MIT-2748RoboCity2030-III-CMUniversidad Politécnica de MadridRobótica aplicada a la mejora de la calidad de vida de los ciudadanos (fase III)

More information

Item ID: 44035
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
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