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Jeong SH, Kim JH, Choi SI, Park JK, Kang TS. Platform Design and Preliminary Test Result of an Insect-like Flapping MAV with Direct Motor-Driven Resonant Wings Utilizing Extension Springs. Biomimetics (Basel) 2022; 8:biomimetics8010006. [PMID: 36648792 PMCID: PMC9844305 DOI: 10.3390/biomimetics8010006] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/15/2022] [Revised: 12/20/2022] [Accepted: 12/21/2022] [Indexed: 12/24/2022] Open
Abstract
In this paper, we propose a platform for an insect-like flapping winged micro aerial vehicle with a resonant wing-driving system using extension springs (FMAVRES). The resonant wing-driving system is constructed using an extension spring instead of the conventional helical or torsion spring. The extension spring can be mounted more easily, compared with a torsion spring. Furthermore, the proposed resonant driving system has better endurance compared with systems with torsion springs. Using a prototype FMAVRES, it was found that torques generated for roll, pitch, and yaw control are linear to control input signals. Considering transient responses, each torque response as an actuator is modelled as a simple first-order system. Roll, pitch, and yaw control commands affect each other. They should be compensated in a closed loop controller design. Total weight of the prototype FMAVRES is 17.92 g while the lift force of it is 21.3 gf with 80% throttle input. Thus, it is expected that the new platform of FMAVRES could be used effectively to develop simple and robust flapping MAVs.
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Affiliation(s)
- Seung-hee Jeong
- Department of Aerospace Information Engineering, Konkuk University, Seoul 05029, Republic of Korea
| | - Jeong-hwan Kim
- Department of Smart Vehicle Engineering, Konkuk University, Seoul 05029, Republic of Korea
| | - Seung-ik Choi
- Department of Smart Vehicle Engineering, Konkuk University, Seoul 05029, Republic of Korea
| | - Jung-keun Park
- Department of Smart Vehicle Engineering, Konkuk University, Seoul 05029, Republic of Korea
| | - Tae-sam Kang
- Department of Aerospace Information Engineering, Konkuk University, Seoul 05029, Republic of Korea
- Correspondence:
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Fath A, Xia T, Li W. Recent Advances in the Application of Piezoelectric Materials in Microrobotic Systems. MICROMACHINES 2022; 13:1422. [PMID: 36144045 PMCID: PMC9501207 DOI: 10.3390/mi13091422] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/24/2022] [Revised: 08/20/2022] [Accepted: 08/23/2022] [Indexed: 06/16/2023]
Abstract
Recent advances in precision manufacturing technology and a thorough understanding of the properties of piezoelectric materials have made it possible for researchers to develop innovative microrobotic systems, which draw more attention to the challenges of utilizing microrobots in areas that are inaccessible to ordinary robots. This review paper provides an overview of the recent advances in the application of piezoelectric materials in microrobots. The challenges of microrobots in the direction of autonomy are categorized into four sections: mechanisms, power, sensing, and control. In each section, innovative research ideas are presented to inspire researchers in their prospective microrobot designs according to specific applications. Novel mechanisms for the mobility of piezoelectric microrobots are reviewed and described. Additionally, as the piezoelectric micro-actuators require high-voltage electronics and onboard power supplies, we review ways of energy harvesting technology and lightweight micro-sensing mechanisms that contain piezoelectric devices to provide feedback, facilitating the use of control strategies to achieve the autonomous untethered movement of microrobots.
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Affiliation(s)
- Alireza Fath
- Department of Mechanical Engineering, University of Vermont, 33 Colchester Ave., Burlington, VT 05405, USA
| | - Tian Xia
- Department of Electrical and Biomedical Engineering, University of Vermont, 33 Colchester Ave., Burlington, VT 05405, USA
| | - Wei Li
- Department of Mechanical Engineering, University of Vermont, 33 Colchester Ave., Burlington, VT 05405, USA
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Ng CSX, Tan MWM, Xu C, Yang Z, Lee PS, Lum GZ. Locomotion of Miniature Soft Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2003558. [PMID: 33338296 DOI: 10.1002/adma.202003558] [Citation(s) in RCA: 43] [Impact Index Per Article: 14.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/25/2020] [Revised: 08/16/2020] [Indexed: 06/12/2023]
Abstract
Miniature soft robots are mobile devices, which are made of smart materials that can be actuated by external stimuli to realize their desired functionalities. Here, the key advancements and challenges of the locomotion producible by miniature soft robots in micro- to centimeter length scales are highlighted. It is highly desirable to endow these small machines with dexterous locomotive gaits as it enables them to easily access highly confined and enclosed spaces via a noninvasive manner. If miniature soft robots are able to capitalize this unique ability, they will have the potential to transform a vast range of applications, including but not limited to, minimally invasive medical treatments, lab-on-chip applications, and search-and-rescue missions. The gaits of miniature soft robots are categorized into terrestrial, aquatic, and aerial locomotion. Except for the centimeter-scale robots that can perform aerial locomotion, the discussions in this report are centered around soft robots that are in the micro- to millimeter length scales. Under each category of locomotion, prospective methods and strategies that can improve their gait performances are also discussed. This report provides critical analyses and discussions that can inspire future strategies to make miniature soft robots significantly more agile.
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Affiliation(s)
- Chelsea Shan Xian Ng
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Matthew Wei Ming Tan
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Changyu Xu
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Zilin Yang
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Pooi See Lee
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Guo Zhan Lum
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
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A Bio-Inspired Flapping Wing Rotor of Variant Frequency Driven by Ultrasonic Motor. APPLIED SCIENCES-BASEL 2020. [DOI: 10.3390/app10010412] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
By combining the flapping and rotary motion, a bio-inspired flapping wing rotor (FWR) is a unique kinematics of motion. It can produce a significantly greater aerodynamic lift and efficiency than mimicking the insect wings in a vertical take-off and landing (VTOL). To produce the same lift, the FWR’s flapping frequency, twist angle, and self-propelling rotational speed is significantly smaller than the insect-like flapping wings and rotors. Like its opponents, however, the effect of variant flapping frequency (VFF) of a FWR, during a flapping cycle on its aerodynamic characteristics and efficiency, remains to be evaluated. A FWR model is built to carry out experimental work. To be able to vary the flapping frequency rapidly during a stroke, an ultrasonic motor (USM) is used to drive the FWR. Experiment and numerical simulation using computational fluid dynamics (CFD) are performed in a VFF range versus the usual constant flapping frequency (CFF) cases. The measured lifting forces agree very well with the CFD results. Flapping frequency in an up-stroke is smaller than a down-stroke, and the negative lift and inertia forces can be reduced significantly. The average lift of the FWR where the motion in VFF is greater than the CFF, in the same input motor power or equivalent flapping frequency. In other words, the required power for a VFF case to produce a specified lift is less than a CFF case. For this FWR model, the optimal installation angle of the wings for high lift and efficiency is found to be 30° and the Strouhal number of the VFF cases is between 0.3–0.36.
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Phan HV, Park HC. Design and evaluation of a deformable wing configuration for economical hovering flight of an insect-like tailless flying robot. BIOINSPIRATION & BIOMIMETICS 2018; 13:036009. [PMID: 29493535 DOI: 10.1088/1748-3190/aab313] [Citation(s) in RCA: 12] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/08/2023]
Abstract
Studies on wing kinematics indicate that flapping insect wings operate at higher angles of attack (AoAs) than conventional rotary wings. Thus, effectively flying an insect-like flapping-wing micro air vehicle (FW-MAV) requires appropriate wing design for achieving low power consumption and high force generation. Even though theoretical studies can be performed to identify appropriate geometric AoAs for a wing for achieving efficient hovering flight, designing an actual wing by implementing these angles into a real flying robot is challenging. In this work, we investigated the wing morphology of an insect-like tailless FW-MAV, which was named KUBeetle, for obtaining high vertical force/power ratio or power loading. Several deformable wing configurations with various vein structures were designed, and their characteristics of vertical force generation and power requirement were theoretically and experimentally investigated. The results of the theoretical study based on the unsteady blade element theory (UBET) were validated with reference data to prove the accuracy of power estimation. A good agreement between estimated and measured results indicated that the proposed UBET model can be used to effectively estimate the power requirement and force generation of an FW-MAV. Among the investigated wing configurations operating at flapping frequencies of 23 Hz to 29 Hz, estimated results showed that the wing with a suitable vein placed outboard exhibited an increase of approximately 23.7% ± 0.5% in vertical force and approximately 10.2% ± 1.0% in force/power ratio. The estimation was supported by experimental results, which showed that the suggested wing enhanced vertical force by approximately 21.8% ± 3.6% and force/power ratio by 6.8% ± 1.6%. In addition, wing kinematics during flapping motion was analyzed to determine the reason for the observed improvement.
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Affiliation(s)
- Hoang Vu Phan
- Artificial Muscle Research Center and Department of Smart Vehicle Engineering, Konkuk University, Seoul 05029, Republic of Korea
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Zhang C, Rossi C. A review of compliant transmission mechanisms for bio-inspired flapping-wing micro air vehicles. BIOINSPIRATION & BIOMIMETICS 2017; 12:025005. [PMID: 28079026 DOI: 10.1088/1748-3190/aa58d3] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/06/2023]
Abstract
Flapping-wing micro air vehicles (FWMAVs) are a class of unmanned aircraft that imitate flight characteristics of natural organisms such as birds, bats, and insects, in order to achieve maximum flight efficiency and manoeuvrability. Designing proper mechanisms for flapping transmission is an extremely important aspect for FWMAVs. Compliant transmission mechanisms have been considered as an alternative to rigid transmission systems due to their lower the number of parts, thereby reducing the total weight, lower energy loss thanks to little or practically no friction among parts, and at the same time, being able to store and release mechanical power during the flapping cycle. In this paper, the state-of-the-art research in this field is dealt upon, highlighting open challenges and research topics. An optimization method for designing compliant transmission mechanisms inspired by the thoraxes of insects is also introduced.
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Affiliation(s)
- C Zhang
- Centre for Automation and Robotics (CAR), UPM-CSIC, 2, calle de Jose Gutierrez Abascal, 28006, Madrid, Spain
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Zou Y, Zhang W, Zhang Z. Liftoff of an Electromagnetically Driven Insect-Inspired Flapping-Wing Robot. IEEE T ROBOT 2016. [DOI: 10.1109/tro.2016.2593449] [Citation(s) in RCA: 90] [Impact Index Per Article: 11.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Roll JA, Cheng B, Deng X. An Electromagnetic Actuator for High-Frequency Flapping-Wing Microair Vehicles. IEEE T ROBOT 2015. [DOI: 10.1109/tro.2015.2409451] [Citation(s) in RCA: 63] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Lau GK, Chin YW, Goh JTW, Wood RJ. Dipteran-Insect-Inspired Thoracic Mechanism With Nonlinear Stiffness to Save Inertial Power of Flapping-Wing Flight. IEEE T ROBOT 2014. [DOI: 10.1109/tro.2014.2333112] [Citation(s) in RCA: 55] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Hines L, Campolo D, Sitti M. Liftoff of a Motor-Driven, Flapping-Wing Microaerial Vehicle Capable of Resonance. IEEE T ROBOT 2014. [DOI: 10.1109/tro.2013.2280057] [Citation(s) in RCA: 89] [Impact Index Per Article: 8.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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Ozcan O, Wang H, Taylor JD, Sitti M. STRIDE II: A Water Strider-inspired Miniature Robot with Circular Footpads. INT J ADV ROBOT SYST 2014. [DOI: 10.5772/58701] [Citation(s) in RCA: 30] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/30/2022] Open
Abstract
Water strider insects have attracted the attention of many researchers due to their power-efficient and agile water surface locomotion. This study proposes a new water strider insect-inspired robot, called STRIDE II, which uses new circular footpads for high lift, stability and payload capability, and a new elliptical leg rotation mechanism for more efficient water surface propulsion. Using the advantage of scaling effects on surface tension versus buoyancy, similar to water strider insects, this robot uses the repulsive surface tension force on its footpads as the dominant lift principle instead of creating buoyancy by using very skinny (1 mm diameter) circular footpads coated with a superhydrophobic material. The robot and the insect propel quickly and power efficiently on the water surface by the sculling motion of their two side-legs, which never break the water surface completely. This paper proposes models for the lift, drag and propulsion forces and the energy efficiency of the proposed legged robot, and experiments are conducted to verify these models. After optimizing the robot design using the lift models, a maximum lift capacity of 55 grams is achieved using 12 footpads with a 4.2 cm outer diameter, while the robot itself weighs 21.75 grams. For this robot, a propulsion efficiency of 22.3% was measured. The maximum forward and turning speeds of the robot were measured as 71.5 mm/sec and 0.21 rad/sec, respectively. These water strider robots could be used in water surface monitoring, cleaning and analysis in lakes, dams, rivers and the sea.
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Affiliation(s)
- Onur Ozcan
- NanoRobotics Laboratory, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Han Wang
- NanoRobotics Laboratory, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Jonathan D. Taylor
- NanoRobotics Laboratory, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Metin Sitti
- NanoRobotics Laboratory, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
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Hines L, Arabagi V, Sitti M. Shape Memory Polymer-Based Flexure Stiffness Control in a Miniature Flapping-Wing Robot. IEEE T ROBOT 2012. [DOI: 10.1109/tro.2012.2197313] [Citation(s) in RCA: 55] [Impact Index Per Article: 4.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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