A Review of Design and Fabrication of the Bionic Flapping Wing Micro Air Vehicles

Visualized neural network-based vibration control for pigeon-like flexible flapping wings

This study investigates pigeon-like flexible flapping wings, which are known for their low energy consumption, high flexibility, and lightweight design. However, such flexible flapping wing systems are prone to deformation and vibration during flight, leading to performance degradation. It is thus necessary to design a control method to effectively manage the vibration of flexible wings. This paper proposes an improved rigid finite element method (IRFE) to develop a dynamic visualization model of flexible flapping wings. Subsequently, an adaptive vibration controller was designed based on non-singular terminal sliding mode (NTSM) control and fuzzy neural network (FNN) in order to effectively solve the problems of system uncertainty and actuator failure. With the proposed control, stability of the closed loop system is achieved in the context of Lyapunov's stability theory. At last, a joint simulation using MapleSim and MATLAB/Simulink was conducted to verify the effectiveness and robustness of the proposed controller in terms of trajectory tracking and vibration suppression.The obtained results have demonstrated great practical value of the proposed method in both military (low-altitude reconnaissance, urban operations, and accurate delivery, etc.) and civil (field research, monitoring, and relief for disasters, etc.) applications.

Landing and take-off capabilities of bioinspired aerial vehicles: a review

Bioinspired flapping-wing micro aerial vehicles (FWMAVs) have emerged over the last two decades as a promising new type of robot. Their high thrust-to-weight ratio, versatility, safety, and maneuverability, especially at small scales, could make them more suitable than fixed-wing and multi-rotor vehicles for various applications, especially in cluttered, confined environments and in close proximity to humans, flora, and fauna. Unlike natural flyers, however, most FWMAVs currently have limited take-off and landing capabilities. Natural flyers are able to take off and land effortlessly from a wide variety of surfaces and in complex environments. Mimicking such capabilities on flapping-wing robots would considerably enhance their practical usage. This review presents an overview of take-off and landing techniques for FWMAVs, covering different approaches and mechanism designs, as well as dynamics and control aspects. The special case of perching is also included. As well as discussing solutions investigated for FWMAVs specifically, we also present solutions that have been developed for different types of robots but may be applicable to flapping-wing ones. Different approaches are compared and their suitability for different applications and types of robots is assessed. Moreover, research and technology gaps are identified, and promising future work directions are identified.

Review of the Flight Control Method of a Bird-like Flapping-Wing Air Vehicle

The Bird-like Flapping-wing Air Vehicle (BFAV) is a robotic innovation that emulates the flight patterns of birds. In comparison to fixed-wing and rotary-wing air vehicles, the BFAV offers superior attributes such as stealth, enhanced maneuverability, strong adaptability, and low noise, which render the BFAV a promising prospect for numerous applications. Consequently, it represents a crucial direction of research in the field of air vehicles for the foreseeable future. However, the flapping-wing vehicle is a nonlinear and unsteady system, posing significant challenges for BFAV to achieve autonomous flying since it is difficult to analyze and characterize using traditional methods and aerodynamics. Hence, flight control as a major key for flapping-wing air vehicles to achieve autonomous flight garners considerable attention from scholars. This paper presents an exposition of the flight principles of BFAV, followed by a comprehensive analysis of various significant factors that impact bird flight. Subsequently, a review of the existing literature on flight control in BFAV is conducted, and the flight control of BFAV is categorized into three distinct components: position control, trajectory tracking control, and formation control. Additionally, the latest advancements in control algorithms for each component are deliberated and analyzed. Ultimately, a projection on forthcoming directions of research is presented.

Advances in artificial muscles: A brief literature and patent review

Background: Artificial muscles are an active research area now. Methods: A bibliometric analysis was performed to evaluate the development of artificial muscles based on research papers and patents. A detailed overview of artificial muscles' scientific and technological innovation was presented from aspects of productive countries/regions, institutions, journals, researchers, highly cited papers, and emerging topics. Results: 1,743 papers and 1,925 patents were identified after retrieval in Science Citation Index-Expanded (SCI-E) and Derwent Innovations Index (DII). The results show that China, the United States, and Japan are leading in the scientific and technological innovation of artificial muscles. The University of Wollongong has the most publications and Spinks is the most productive author in artificial muscle research. Smart Materials and Structures is the journal most productive in this field. Materials science, mechanical and automation, and robotics are the three fields related to artificial muscles most. Types of artificial muscles like pneumatic artificial muscles (PAMs) and dielectric elastomer actuator (DEA) are maturing. Shape memory alloy (SMA), carbon nanotubes (CNTs), graphene, and other novel materials have shown promising applications in this field. Conclusion: Along with the development of new materials and processes, researchers are paying more attention to the performance improvement and cost reduction of artificial muscles.

Modeling and Analysis of a Simple Flexible Wing-Thorax System in Flapping-Wing Insects

Small-scale flapping-wing micro air vehicles (FWMAVs) are an emerging robotic technology with many applications in areas including infrastructure monitoring and remote sensing. However, challenges such as inefficient energetics and decreased payload capacity preclude the useful implementation of FWMAVs. Insects serve as inspiration to FWMAV design owing to their energy efficiency, maneuverability, and capacity to hover. Still, the biomechanics of insects remain challenging to model, thereby limiting the translational design insights we can gather from their flight. In particular, it is not well-understood how wing flexibility impacts the energy requirements of flapping flight. In this work, we developed a simple model of an insect drive train consisting of a compliant thorax coupled to a flexible wing flapping with single-degree-of-freedom rotation in a fluid environment. We applied this model to quantify the energy required to actuate a flapping wing system with parameters based off a hawkmoth Manduca sexta. Despite its simplifications, the model predicts thorax displacement, wingtip deflection and peak aerodynamic force in proximity to what has been measured experimentally in flying moths. We found a flapping system with flexible wings requires 20% less energy than a flapping system with rigid wings while maintaining similar aerodynamic performance. Passive wing deformation increases the effective angle of rotation of the flexible wing, thereby reducing the maximum rotation angle at the base of the wing. We investigated the sensitivity of these results to parameter deviations and found that the energetic savings conferred by the flexible wing are robust over a wide range of parameters.

Soft Molds with Micro-Machined Internal Skeletons Improve Robustness of Flapping-Wing Robots

Mobile millimeter and centimeter scale robots often use smart composite manufacturing (SCM) for the construction of body components and mechanisms. The fabrication of SCM mechanisms requires laser machining and laminating flexible, adhesive, and structural materials into small-scale hinges, transmissions, and, ultimately, wings or legs. However, a fundamental limitation of SCM components is the plastic deformation and failure of flexures. In this work, we demonstrate that encasing SCM components in a soft silicone mold dramatically improves the durability of SCM flexure hinges and provides robustness to SCM components. We demonstrate this advance in the design of a flapping-wing robot that uses an underactuated compliant transmission fabricated with an inner SCM skeleton and exterior silicone mold. The transmission design is optimized to achieve desired wingstroke requirements and to allow for independent motion of each wing. We validate these design choices in bench-top tests, measuring transmission compliance, kinematics, and fatigue. We integrate the transmission with laminate wings and two types of actuation, demonstrating elastic energy exchange and limited lift-off capabilities. Lastly, we tested collision mitigation through flapping-wing experiments that obstructed the motion of a wing. These experiments demonstrate that an underactuated compliant transmission can provide resilience and robustness to flapping-wing robots.

Adaptive Finite-Time Fault-Tolerant Control for Uncertain Flexible Flapping Wings Based on Rigid Finite Element Method

The bionic flapping-wing robotic aircraft is inspired by the flight of birds or insects. This article focuses on the flexible wings of the aircraft, which has great advantages, such as being lightweight, having high flexibility, and offering low energy consumption. However, flexible wings might generate the unexpected deformation and vibration during the flying process. The vibration will degrade the flight performance, even shorten the lifespan of the aircraft. Therefore, designing an effective control method for suppressing vibrations of the flexible wings is significant in practice. The main purpose of this article is to develop an adaptive fault-tolerant control scheme for the flexible wings of the aircraft. Dynamic modeling, control design, and stability verification for the aircraft system are conducted. First, the dynamic model of the flexible flapping-wing aircraft is established by an improved rigid finite element (IRFE) method. Second, a novel adaptive fault-tolerant controller based on the fuzzy neural network (FNN) and nonsingular fast terminal sliding-mode (NFTSM) control scheme are proposed for tracking control and vibration suppression of the flexible wings, while successfully addressing the issues of system uncertainties and actuator failures. Third, the stability of the closed-loop system is analyzed through Lyapunov's direct method. Finally, co-simulations through MapleSim and MATLAB/Simulink are carried out to verify the performance of the proposed controller.

Development of Electrostatic Microactuators: 5-Year Progress in Modeling, Design, and Applications

The implementation of electrostatic microactuators is one of the most popular technical solutions in the field of micropositioning due to their versatility and variety of possible operation modes and methods. Nevertheless, such uncertainty in existing possibilities creates the problem of choosing suitable methods. This paper provides an effort to classify electrostatic actuators and create a system in the variety of existing devices. Here is overviewed and classified a wide spectrum of electrostatic actuators developed in the last 5 years, including modeling of different designs, and their application in various devices. The paper provides examples of possible implementations, conclusions, and an extensive list of references.

Wake and aeroelasticity of a flexible pitching foil

A flexible foil undergoing pitching oscillations is studied experimentally in a wind tunnel with different imposed free stream velocities. The chord-based Reynolds number is in the range 1600-4000, such that the dynamics of the system is governed by inertial forces and the wake behind the foil exhibits the reverse Bénard-von Kármán vortex street characteristic of flapping-based propulsion. Particle image velocimetry (PIV) measurements are performed to examine the flow around the foil, whilst the deformation of the foil is also tracked. The first natural frequency of vibration of the foil is within the range of flapping frequencies explored, determining a strongly-coupled dynamics between the elastic foil deformation and the vortex shedding. Cluster-based reduced order modelling is applied on the PIV data in order to identify the coherent flow structures. Analysing the foil kinematics and using a control-volume calculation of the average drag forces from the corresponding velocity fields, we determine the optimal flapping configurations for thrust generation. We show that propulsive force peaks occur at dimensionless frequencies shifted with respect to the elastic resonances that are marked by maximum trailing edge oscillation amplitudes. The thrust peaks are better explained by a wake resonance, which we examine using the tools of classic hydrodynamic stability on the mean propulsive jet profiles.

Should friction losses be included in an electromechanical model of a bioinspired flapping-wing micro aerial vehicle to estimate the flight energetic requirements?

The paper aims to examine the effects of mechanical losses on the performance of a bioinspired flapping-wing micro aerial vehicle (FWMAV) and ways to mitigate them by introducing a novel electromechanical model. The mathematical model captures the effect of a DC gear motor, slider-crank, flapping-wings aerodynamics, and frictional losses. The aerodynamic loads are obtained using a quasi-steady flow model. The parameters of the flight mechanism are estimated using published experimental data which are also used to validate the mathematical model. Incorporating the flapping mechanism friction losses into the mathematical model enables capturing the physics of the problem with higher accuracy, which is not possible with simpler models. It also makes it possible to estimate the aerodynamic energetic requirements. Moreover, the model enabled evaluations of the effects of adding bioinspired elastic elements on the efficiency of the system. Although it is established through experimental studies that the addition of a bioinspired elastic element can improve system efficiency and increase lift generation, the existing mathematical models fail to model and predict such effects. It has been demonstrated that the addition of an elastic element can reduce friction losses in the system by decreasing the internal forces. Optimised parameters for a FWMAV incorporating elastic elements are also obtained.

Design optimization and wind tunnel investigation of a flapping system based on the flapping wing trajectories of a beetle's hindwings

To design a flapping-wing micro air vehicle (FWMAV), the hovering flight action of a beetle species (Protaetia brevitarsis) was captured, and various parameters, such as the hindwing flapping frequency, flapping amplitude, angle of attack, rotation angle, and stroke plane angle, were obtained. The wing tip trajectories of the hindwings were recorded and analyzed, and the flapping kinematics were assessed. Based on the wing tip trajectory functions, bioinspired wings and a linkage mechanism flapping system were designed. The critical parameters for the aerodynamic characteristics were investigated and optimized by means of wind tunnel tests, and the artificial flapping system with the best wing parameters was compared with the natural beetle. This work provides insight into how natural flyers execute flight by experimentally duplicating beetle hindwing kinematics and paves the way for the future development of beetle-mimicking FWMAVs.

Flow visualization and force measurement of the clapping effect in bio-inspired flying robots

In this paper, we perform experimental investigations of the aerodynamic characteristics due to wing clapping in bio-inspired flying robots; i.e., micro-air-vehicles (MAVs) that fly by flapping their wings. For this purpose, four flapping MAV models with different levels of clapping (from no clapping at all to full clapping) are developed. The aerodynamic performance of each model is then tested in terms of the average thrust and power consumption at various flapping frequencies. The results show that clapping enhance both thrust and efficiency. To gain some physical insight into the underlying physics behind this clapping-thrust-enhancement, we perform a smoke flow visualization over the wings of the four models at different instants during the flapping cycle.

Organismal Design and Biomimetics: A Problem of Scale

Organisms and their features represent a complex system of solutions that can efficiently inspire the development of original and cutting-edge design applications: the related discipline is known as biomimetics. From the smallest to the largest, every species has developed and adapted different working principles based on their relative dimensional realm. In nature, size changes determine remarkable effects in organismal structures, functions, and evolutionary innovations. Similarly, size and scaling rules need to be considered in the biomimetic transfer of solutions to different dimensions, from nature to artefacts. The observation of principles that occur at very small scales, such as for nano- and microstructures, can often be seen and transferred to a macroscopic scale. However, this transfer is not always possible; numerous biological structures lose their functionality when applied to different scale dimensions. Hence, the evaluation of the effects and changes in scaling biological working principles to the final design dimension is crucial for the success of any biomimetic transfer process. This review intends to provide biologists and designers with an overview regarding scale-related principles in organismal design and their application to technical projects regarding mechanics, optics, electricity, and acoustics.

Flexible Photodriven Actuator Based on Gradient-Paraffin-Wax-Filled Ti3C2Tx MXene Film for Bionic Robots

Due to their high flexibility and adaptability, bionic robots have great potential in applications such as healthcare, rescue, and surveillance. The flexible actuator is an essential component of the bionic robot and determines its performance. Even though much progress has been achieved in bionic robot research, there still exists a great challenge in preparing a flexible actuator with a large stroke, high sensitivity, fast response, low triggering power, and long lifetime. This study presents a flexible actuator based on a paraffin wax and Ti₃C₂T_x MXene (PW-MX) film composite. Such a flexible actuator delivers an excellent actuation performance, including a large curvature change (2.2 × 10² m^-1), high thermal sensitivity (4.6 m^-1/°C), low triggering power of light (76 mW/cm²), wavelength selectivity, fast response (0.38 s), and long lifetime (>20000 cycles). Due to the high thermal sensitivity and the strong infrared absorption of the PW-MX film, crawling motion of an inchworm robot based on PW-MX film can be triggered by infrared irradiation from the human finger. To mimic living organisms with bioluminescence, we prepared a PW-MX actuator with green fluorescence by doping PW-MX film with CdSe/ZnS quantum dots. The integration of luminescent function enables the PW-MX actuator to deliver information under light stimulation and to camouflage under a background of green foliage actively. With its merits of ease of fabrication and high actuation performance, the flexible PW-MX actuator is expected to lend itself to more applications in the future.

On the Aerodynamic Analysis and Conceptual Design of Bioinspired Multi-Flapping-Wing Drones

Many research studies have investigated the characteristics of bird flights as a source of bioinspiration for the design of flapping-wing micro air vehicles. However, to the best of the authors’ knowledge, no drone design targeted the exploitation of the aerodynamic benefits associated with avian group formation flight. Therefore, in this work, a conceptual design of a novel multi-flapping-wing drone that incorporates multiple pairs of wings arranged in a V-shape is proposed in order to simultaneously increase the propulsive efficiency and achieve superior performance. First, a mission plan is established, and a weight estimation is conducted for both 3-member and 5-member configurations of the proposed air vehicle. Several wing shapes and airfoils are considered, and aerodynamic simulations are conducted, to determine the optimal planform, airfoil, formation angle, and angle of attack. The simulation results reveal that the proposed bioinspired design can achieve a propulsive efficiency of 73.8%. A stability analysis and tail sizing procedure are performed for both 3-member and 5-member configurations. In addition, multiple flapping mechanisms are inspected for implementation in the proposed designs. Finally, the completed prototypes’ models of the proposed multi-flapping-wing air vehicles are presented, and their features are discussed. The aim of this research is to provide a framework for the conceptual design of bioinspired multi-flapping-wing drones and to demonstrate the sizing, weight estimation, and design procedures for this new type of air vehicles. This work establishes the first multi-flapping-wing drone design which exploits the aerodynamic features of the V-formation flight observed in birds to achieve superior performance in terms of payload and endurance.

Analysis on Hover Control Performance of T- and Cross-Shaped Tail Fin of X-Wing Single-Bar Biplane Flapping Wing

The current flapping wing adopts T-shaped or cross-shaped tail fin to adjust its flight posture. However, how the tail fin will affect the hover control is not very clear. So, the effects of the two types of tail on flight will be analyzed and compared by actual flight tests in this paper. Firstly, we proposed a new X-wing single-bar biplane flapping-wing mechanism with two pairs of wings. Thereafter, the overall structure, gearbox structure, tail, frame, and control system of the flapping wing were designed and analyzed. Secondly, the control mechanism of hover is analyzed to describe the effect of two-tail fin on posture control. Thirdly, the Beetle was used as the control unit to achieve a controllable flight of flapping wing. The MPU6050 electronic gyroscope was used to monitor the drone’s posture in real time, and the Bluetooth BLE4.0 wireless communication module was used to receive remote control instructions. At last, to verify the flight effect, two actual flapping wings were fabricated and flight experiments were conducted. The experiments show that the cross-shaped tail fin has a better controllable performance than the T-shaped tail fin. The flapping wing has a high lift-to-mass ratio and good maneuverability. The designed control system can achieve the controllable flight of the flapping wing.

Experiments on Flexible Filaments in Air Flow for Aeroelasticity and Fluid-Structure Interaction Models Validation

Several problems in science and engineering are characterized by the interaction between fluid flows and deformable structures. Due to their complex and multidisciplinary nature, these problems cannot normally be solved analytically and experiments are frequently of limited scope, so that numerical simulations represent the main analysis tool. Key to the advancement of numerical methods is the availability of experimental test cases for validation. This paper presents results of an experiment specifically designed for the validation of numerical methods for aeroelasticity and fluid-structure interaction problems. Flexible filaments of rectangular cross-section and various lengths were exposed to air flow of moderate Reynolds number, corresponding to laminar and mildly turbulent flow conditions. Experiments were conducted in a wind tunnel, and the flexible filaments dynamics was recorded via fast video imaging. The structural response of the filaments included static reconfiguration, small-amplitude vibration, large-amplitude limit-cycle periodic oscillation, and large-amplitude non-periodic motion. The present experimental setup was designed to incorporate a rich fluid-structure interaction physics within a relatively simple configuration without mimicking any specific structure, so that the results presented herein can be valuable for models validation in aeroelasticity and also fluid-structure interaction applications.

Biomimicry of the Hawk Moth, Manduca sexta (L.), Produces an Improved Flapping-Wing Mechanism

Flapping-wing micro air vehicles (FWMAVs) that mimic the flight capabilities of insects have been sought for decades. Core to the vehicle’s flight capabilities is the mechanism that drives the wings to produce thrust and lift. This article describes a newly designed flapping-wing mechanism (FWM) inspired by the North American hawk moth, Manduca sexta. Moreover, the hardware, software, and experimental testing methods developed to measure the efficiency of insect-scale flapping-wing systems (i.e., the lift produced per unit of input power) are detailed. The new FWM weighs 1.2 grams without an actuator and wings attached, and its maximum dimensions are 21 × 24 × 11 mm. This FWM requires 402 mW of power to operate, amounting to a 48% power reduction when compared to a previous version. In addition, it generates 1.3 gram-force of lift at a flapping frequency of 21.6 Hz. Results show progress, but they have not yet met the power efficiency of the naturally occurring Manduca sexta. Plans to improve the technique for measuring efficiency are discussed as well as strategies to more closely mimic the efficiency of the Manduca sexta-inspired FWM.