Can DC Motors Directly Drive Flapping Wings at High Frequency and Large Wing Strokes?
Can DC Motors Directly Drive Flapping Wings at High Frequency and Large Wing Strokes?
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DOI：
10.1109/tmech.2012.2222432
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发表时间：
2014-02-01
影响因子：
6.4
通讯作者：
Sitti, Metin
中科院分区：
文献类型：
--
作者：
Campolo, Domenico;Azhar, Muhammad;Sitti, Metin
本文提出并实验验证了一种基于直接弹性传动的直流电动机驱动扑翼实现大行程、高频率扑动的方法。直流电动机进行往复运动，而不是旋转运动，避免使用非线性传动装置，如曲柄滑块机构。这是紧凑、易于制造、功率高效和可控的扑翼机构的关键。首先，基于最大功率传输参数选择合适的电机。然后，扑翼机构的原型和它的实验性能进行比较，模拟，考虑到系统的完整动态。尽管由于空气动力学阻尼而存在固有的非线性，但直接弹性传动的线性允许充分利用共振。动态效率最好地体现了这一优点，在实验数据和模拟中，在较大的机翼冲程下，动态效率接近90%。最后，我们展示了一个紧凑的扑翼机构实现与独立的扑翼运动控制的两个翅膀，这可能是用于未来的自主微型飞行器。
This paper proposes and experimentally validates a method for driving flapping wings at large wing strokes and high frequencies with a DC motor, based on direct, elastic transmission. The DC motor undergoes reciprocating, rather than rotary, motion avoiding the use of nonlinear transmissions such as slider-crank mechanisms. This is key to compact, easy to fabricate, power efficient, and controllable flapping mechanisms. First, an appropriate motor based on maximum power transfer arguments is selected. Then, a flapping mechanism is prototyped and its experimental performance is compared with simulations, which take into account the full dynamics of the system. Despite inherent nonlinearities due to the aerodynamic damping, the linearity of the direct, elastic transmission allows one to fully exploit resonance. This benefit is best captured by the dynamic efficiency, close to 90% at larger wing strokes in both experimental data and simulations. We finally show a compact flapping mechanism implementation with independent flapping motion control for the two wings, which could be used for future autonomous micro-aerial vehicles.