This paper shows the design and analysis of the actuation mechanism for a four winged flapping wing MAV. The design is set up to exploit resonant properties, as exhibited by flying insects, to reduce the energy expenditure and to provide amplitude amplification. In order to achieve resonance a significantly flexible structure has to be incorporated into the design. The elastic structure used for the body of the MAV is a ring type structure. The ring is coupled to the wings by a compliant amplification mechanism which transforms and amplifies the ring deflection into the large wing root rotation. After initial sizing, the structures are analyzed by finite elements (eigenvalue and transient analysis). Based on the initial analysis, the structures are realized to be tested later. The wings are first analyzed independent of the structure in order to tune wing hinge stiffness to efficiently generate lift, exploiting passive wing pitching. The wings are tuned by using a quasi-steady aerodynamic model. The tuned wings are tested to judge if manufactured wings reflect the predicted performance. The ring-shaped thorax structure is combined with the wings to test resonant performance of the assembled structure. A test setup is built to quantify lift production. Lift is tested by suspending the prototype on a flexible beam and measuring changes in deflection when the model is actuated. Significant lift is produced using the current prototype. Kinematic patterns present during resonant actuation show correct timing of wing rotation.

This paper deals with the design and analysis of the actuation mechanism for a four winged flapping wing MAV. The design is set up to exploit resonant properties, as exhibited by flying insects, to reduce the energy expenditure and to provide amplitude amplification. In order to achieve resonance a significantly flexible structure has to be incorporated into the design. The elastic structure used for the body of the MAV is a ring type structure. The ring is coupled to the wings by a compliant mechanical amplification mechanism which transforms and amplifies the ring deflection into the large wing root rotation. After initial sizing, the structures are analyzed by finite elements (eigenvalue and transient analysis). Based on the initial analysis, the structures are realized to be tested later. The wings are first analyzed independent of the structure in order to tune wing hinge stiffness to efficiently generate lift, exploiting passive wing pitching. The wings are tuned by using a quasi-steady aerodynamic model. The tuned wings are tested to judge if manufactured wings reflect the predicted performance. The ring-shaped thorax structure is combined with the wings to test resonant performance of the assembled structure. A test setup is built to quantify lift production. Lift is tested by suspending the prototype on a flexible beam and measuring changes in deflection when the model is actuated.

This paper shows the developments in the design and realization of a compliant structure that functions as a resonant mechanism to drive the wings of a flapping wing micro air vehicle. The inspiration for the application of resonance to drive a flapping wing structure is derived from resonant properties exhibited by the insect thorax-wing system. The base structure used for the resonant mechanism is a ring-type structure. Two different test structures are modeled and optimized after which they are realized and their performance reviewed.

The incorporation of elastic elements into the design of wings for flapping wing MAVs allows for the passive control of the wing pitching movement. This property is very useful in hovering flapping MAVs due to a reduction in the complexity of the wing actuation mechanism requirements. This can be accomplished by small modification of a standard flapping wing MAV wing design. In order to predict performance and tailor the value of stiffness needed, a quasi-steady aerodynamic model is used combined with a rigid body model of the wing. The model is tuned using insect wing kinematics as the reference. The tuned stiffness value is used in the realization of the modified design which is tested in an experimental setup to judge if the kinematic pattern corresponds to the required pattern.