TY - GEN
T1 - Virtual-work-based optimization design on compliant transmission mechanism for flapping-wing aerial vehicles
AU - Zhang, Chao
AU - Rossi, Claudio
AU - He, Wei
AU - Colorado, Julian
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/6
Y1 - 2016/9/6
N2 - This paper presents a method for analysing 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%.
AB - This paper presents a method for analysing 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%.
UR - https://www.scopus.com/pages/publications/84988956189
U2 - 10.1109/MARSS.2016.7561715
DO - 10.1109/MARSS.2016.7561715
M3 - Conference contribution
AN - SCOPUS:84988956189
T3 - 2016 International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2016
BT - 2016 International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2016
A2 - Haliyo, Sinan
A2 - Sill, Albert
A2 - Regnier, Stephane
A2 - Fatikow, Sergej
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2016
Y2 - 18 July 2016 through 21 July 2016
ER -