Towards Flapping Wing Control For A Micromechanical Flying Insect

Joseph Yan,Robert J. Wood,Srinath Avadhanula,Metin Sitti,Ronald S. Fearing

2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS（2001）

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摘要

A 2 DOF resonant thorax structure. signed and fabricated for the. MFI project. Miniature piezoelectric PZN-PT unimorph actuators were fabricated and used to drive a four-bar transmission mechanism. The current thorax design utilizes two actuated four-bars and a spherical joint to drive a rigid wing. Rotationally compliant flexure joints have been tested with lifetimes over 10(6) cycles. Wing spars were instrumented with strain gauges far force measurement and closed-loop wing control.

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关键词

robot kinematics,strain gauge,strain gauges,resonance,thorax

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