Dynamically tuned design of the MFI thorax
Dynamically tuned design of the MFI thorax
复制标题
MFI 胸部的动态调整设计
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
R. Fearing
中科院分区：
文献类型：
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作者：
S. Avadhanula;R. Wood;D. Campolo;R. Fearing
本文提出了一种分析的主要机械部件（胸部）的微机械飞行昆虫（MFI），厘米大小的飞行器目前在加州大学伯克利分校的发展。我们提出了一个描述的机制，将压电驱动到复杂的三维机翼运动的运动学。一个完整的非线性建模系统的基础上的拉格朗日能量技术。一种设计方法，以实现最佳的匹配条件。两种类型的传感器，目前使用的MFI进行说明。实验结果验证了一些建模的非线性方面的机制。
This paper presents an analysis of the major mechanical component (the thorax) of the micromechanical flying insect (MFI), a centimeter sized aerial vehicle currently in development at UC Berkeley. We present a description of the kinematics of the mechanism which converts piezoelectric actuation into complex 3D wing motion. A complete non-linear modeling of the system based on the Lagrangian energy technique is presented. A design methodology is presented in order to achieve optimal matching conditions. Two kinds of sensors which are presently utilized on the MFI are described. Experimental results are presented which validate some of the modeled non-linear aspects of the mechanism.