TY - JOUR
T1 - Biomechanics of smart wings in a bat robot
T2 - Morphing wings using SMA actuators
AU - Colorado, J.
AU - Barrientos, A.
AU - Rossi, C.
AU - Breuer, K. S.
PY - 2012/9
Y1 - 2012/9
N2 - This paper presents the design of a bat-like micro aerial vehicle with actuated morphing wings. NiTi shape memory alloys (SMAs) acting as artificial biceps and triceps muscles are used for mimicking the morphing wing mechanism of the bat flight apparatus. Our objective is twofold. Firstly, we have implemented a control architecture that allows an accurate and fast SMA actuation. This control makes use of the electrical resistance measurements of SMAs to adjust morphing wing motions. Secondly, the feasibility of using SMA actuation technology is evaluated for the application at hand. To this purpose, experiments are conducted to analyze the control performance in terms of nominal and overloaded operation modes of the SMAs. This analysis includes: (i) inertial forces regarding the stretchable wing membrane and aerodynamic loads, and (ii) uncertainties due to impact of airflow conditions over the resistance-motion relationship of SMAs. With the proposed control, morphing actuation speed can be increased up to 2.5Hz, being sufficient to generate lift forces at a cruising speed of 5ms1.
AB - This paper presents the design of a bat-like micro aerial vehicle with actuated morphing wings. NiTi shape memory alloys (SMAs) acting as artificial biceps and triceps muscles are used for mimicking the morphing wing mechanism of the bat flight apparatus. Our objective is twofold. Firstly, we have implemented a control architecture that allows an accurate and fast SMA actuation. This control makes use of the electrical resistance measurements of SMAs to adjust morphing wing motions. Secondly, the feasibility of using SMA actuation technology is evaluated for the application at hand. To this purpose, experiments are conducted to analyze the control performance in terms of nominal and overloaded operation modes of the SMAs. This analysis includes: (i) inertial forces regarding the stretchable wing membrane and aerodynamic loads, and (ii) uncertainties due to impact of airflow conditions over the resistance-motion relationship of SMAs. With the proposed control, morphing actuation speed can be increased up to 2.5Hz, being sufficient to generate lift forces at a cruising speed of 5ms1.
UR - http://www.scopus.com/inward/record.url?scp=84863617952&partnerID=8YFLogxK
U2 - 10.1088/1748-3182/7/3/036006
DO - 10.1088/1748-3182/7/3/036006
M3 - Article
C2 - 22535882
AN - SCOPUS:84863617952
SN - 1748-3182
VL - 7
JO - Bioinspiration and Biomimetics
JF - Bioinspiration and Biomimetics
IS - 3
M1 - 036006
ER -