RESONANCE MOTOR DIRECT DRIVE FLAPPING WING MICRO AIR VEHICLE SYSTEM

摘要

Presented herein are an actuation system and a flapping wing micro aerial vehicle system. In one embodiment, for energy efficiency and to achieve a resonant system, the flapping wing is directly driven using conventional DC motors coupled with torsion springs. Using a transmission gear, the motor is designed to operating at an efficient speed, but generates an overall reciprocal motion to the wing. Closed loop control is applied to achieve tracking of the desired wing motion kinematics, the frequency of which is tuned to match the resonant frequency of the system. We also show that wing kinematic control can be achieved by tracking trajectories with different amplitude and bias, therefore creating flight control forces and torques.

主权项

1. An actuation system, comprising:
a direct current motor; a motor encoder, the motor encoder providing position feedback for the motor; and a torsional spring, the torsional spring is coupled to the direct current motor.