Design and control implementation of flapping mechanism for insect size robofliers

Due to the demand of Micro Aerial Vehicle (MAV) An investigation is performed into the development of an innovative, lightweight, and minimally linkage-oriented flapping actuation mechanism design for Flapping Wing MAV wing applications. Most of the research investigates the suitability of existing actuation mechanism designs for wing flapping generation. Natural flyers, such as mosquitos, can beat their wings at a high frequency of 800hz. However, as per the research survey, human-made artificial fully flyable FWMAVs, which are powered by motors, can only flap their wings at a maximum frequency. Based on a comprehensive analysis of 23 years of research data, it has been shown that there is currently a lack of mosquito characteristics mimicking models that accurately resemble natural insects with flapping wing designs driven by motors. Hence here in this research, an attempt is made, for designing few characteristics of mosquito mimicking flapping wing mechanism design. nearly Seven varieties of different mechanisms for flapping actuation are elaborated, and discussed in depth, along with their benefits and limitations. In addition, a comprehensive parametric computational analysis has been undertaken to ameliorate flutter condition by reorganizing the design parameters of the proposed actuation mechanism. For experimental analysis, the assessment of the analytical equation is undertaken for which comprises of the proposed approach having completed computational fluid dynamics, forward and inverse kinematic testing, and simulation testing with 3D design optimization. The data collected from the created design modules are compared in order to forecast the flapping frequency based on the design criteria. Together, the wing model mounting system test rig and the data controller for data collecting have been devised and implemented. To validate the experimental method, handmade and 3D-printed prototypes were evaluated The Kinematic analysis of the novel mechanism i.e “Crank driven – triple cylindrical slidable joint and crank-slider mechanism " arrangements with direct and inverse kinematics and Jacobian representation for linear velocity and angular velocity measurements are detailed in this article. Also,3-Dimensional (3D) simulations of the mechanism design modelling have been performed to determine the flapping motion measurement and flapping link tip position tracking with two different software’s. Until now, the overall size and weight of flapping actuation designs in motor driven mechanisms has been greater owing to the complex designs of gear systems compared to linear actuated designs. Hence miniaturised unique motor actuated design concepts were in need. To further improve the design, with investigated motor modification options, an approach is made with button vibrators as drivers to reduce the overall size and weight of the design, which subsequently evaluated their efficacy through testing. To produce natural and regulated insect-like motion, the study analyzes slider crank modified actuation materials. The inquiry has moved to design realization and analysis. Python, comp-mech GIM, and simscape multibody Computer Aided Design (CAD) models, kinematic measurements, and extensive simulations have helped in understanding the multiple design concepts. The design concepts were accomplished utilizing hand fabrication and 3D printing. Despite their fragility, handcrafted designs work. However, 3D-printed designs were bulky and faced challenges despite their potential benefits in weight reduction and thin linkages. To create compact, robust components, 3D printing techniques have been developed, showing a commitment to durable, functional designs, and constructed model, showcasing the results of their efforts. The fabrication and testing processes are meticulously documented. The study's greatest achievement is precise control of intricate wing oscillations using advanced simulation approaches. Emulating the tuned Proportional Integral Derivative (PID) controller with Simscape multibody software for the modelled design gives the research project the control needed for manoeuvring models with flapping wings.

Text FK 2024 42 - Declaration Form.pdf Restricted to Repository staff only Available under License Creative Commons Attribution Non-commercial No Derivatives. Download (726kB) Text FK 2024 42 - Full Text.pdf Available under License Creative Commons Attribution Non-commercial No Derivatives. Download (10MB) Text FK 2024 42.pdf Restricted to Repository staff only Available under License Creative Commons Attribution Non-commercial No Derivatives. Download (10MB) Official URL or Download Paper: http://ethesis.upm.edu.my/id/eprint/19007

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