The flexibility of flapping-wing strongly affects the aerodynamic performance of Flapping-wing Micro Air Vehicle (FMAV),and the deformations in span-wise and chord-wise directions are coupled together in flight.In thi...The flexibility of flapping-wing strongly affects the aerodynamic performance of Flapping-wing Micro Air Vehicle (FMAV),and the deformations in span-wise and chord-wise directions are coupled together in flight.In this study,the flexible deformation is formulated in span-wise and chord-wise separately in order to analyze its effects on aerodynamic behavior.The preconditioned Navier-Stokes equations based on chimera grid are used in the computational fluid dynamics method to study the aerodynamic effects caused by flexible deformation,and the simulation results are compared with experimental test to illustrate the capability of above method.Based on our results,it is clearly showed that the span-wise flexible deformation should be limited in a small range to achieve higher aerodynamic performance and the chord-wise deformation could enhance the aerodynamic performance.The results also suggest that FMAV designers should design the flapping-wing with high stiffness leading edge to limit the span-wise deformation,and more flexible chord ribs to keep chord-wise deformation in suitable range.展开更多
Inspired by the unique,agile and efficient flapping flight of insects,we present a novel sub-100 mg,electromagnetically driven,tailless,flapping-wing micro robot.This robot utilizes two optimized electromagnetic actua...Inspired by the unique,agile and efficient flapping flight of insects,we present a novel sub-100 mg,electromagnetically driven,tailless,flapping-wing micro robot.This robot utilizes two optimized electromagnetic actuators placed back to back to drive two wings separately,then kinematics of each wing can be independently controlled,which gives the robot the ability to generate all three control torques of pitch,roll and yaw for steering.To quantify the performance of the robot,a simplified aerodynamic model is used to estimate the generated lift and torques,and two customized test platforms for lift and torque measurement are built for this robot.The mean lift generated by the robot is measured to be proportional to the square of the input voltage amplitude.The three control torques are measured to be respectively proportional to three decoupled parameters of the control voltages,therefore the modulation of three control torques for the robot is independent,which is helpful for the further controlled flight.All these measured results fit well with the calculated results of the aerodynamic model.Furthermore,with a total weight of 96 mg and a wingspan of 3.5 cm,this robot can generate sufficient lift to take off.展开更多
Recently,a novel concept of flapping Micro-Air-Vehicles(FMAVs)with four wings has been proposed,which potentially utilizes the clap-and-fling effect for lift enhancement and agile maneuvers through an adjustment of wi...Recently,a novel concept of flapping Micro-Air-Vehicles(FMAVs)with four wings has been proposed,which potentially utilizes the clap-and-fling effect for lift enhancement and agile maneuvers through an adjustment of wing kinematics.However,the application of the clap-and-fling effect in the four-winged FMAVs is underexplored and the dynamic stability is still unclear.In this paper,aerodynamics and flight dynamic stability of the four-winged FMAVs are studied experimentally and numerically.Results show that the clap-and-fling effect is observed when the flapping frequency is above 18 Hz.Due to the clap-and-fling effect,the lift generation and aerodynamic efficiency are both improved,which is mainly attributed to the fling phase.Further studies show that the clap-and-fling effect becomes weaker as the wing root spacing increases and is almost absent at a wing root spacing of 1.73 chord length.In addition,a wing with an aspect ratio of 3 can increase both lift generation and efficiency due to the clap-and-fling effect.Finally,according to the dynamic stability analysis of the four-winged FMAV,the divergence speed of the lateral oscillation mode is about 4 times faster than that of the longitudinal oscillation mode.Our results can provide guidance on the design and control of four-winged FMAVs.展开更多
基金supported by the Postdoctoral Science Foundation of China(20100481369)
文摘The flexibility of flapping-wing strongly affects the aerodynamic performance of Flapping-wing Micro Air Vehicle (FMAV),and the deformations in span-wise and chord-wise directions are coupled together in flight.In this study,the flexible deformation is formulated in span-wise and chord-wise separately in order to analyze its effects on aerodynamic behavior.The preconditioned Navier-Stokes equations based on chimera grid are used in the computational fluid dynamics method to study the aerodynamic effects caused by flexible deformation,and the simulation results are compared with experimental test to illustrate the capability of above method.Based on our results,it is clearly showed that the span-wise flexible deformation should be limited in a small range to achieve higher aerodynamic performance and the chord-wise deformation could enhance the aerodynamic performance.The results also suggest that FMAV designers should design the flapping-wing with high stiffness leading edge to limit the span-wise deformation,and more flexible chord ribs to keep chord-wise deformation in suitable range.
基金supported by the Supporting Foundation of the Ministry of Education of the People's Republic of China(6141A02022607,6141A02022627)Shanghai Science and Technology Commission Project(19511104202)+1 种基金Shanghai Professional technical service platform(19DZ2291103)the Pre-research Fund(1'7070107).
文摘Inspired by the unique,agile and efficient flapping flight of insects,we present a novel sub-100 mg,electromagnetically driven,tailless,flapping-wing micro robot.This robot utilizes two optimized electromagnetic actuators placed back to back to drive two wings separately,then kinematics of each wing can be independently controlled,which gives the robot the ability to generate all three control torques of pitch,roll and yaw for steering.To quantify the performance of the robot,a simplified aerodynamic model is used to estimate the generated lift and torques,and two customized test platforms for lift and torque measurement are built for this robot.The mean lift generated by the robot is measured to be proportional to the square of the input voltage amplitude.The three control torques are measured to be respectively proportional to three decoupled parameters of the control voltages,therefore the modulation of three control torques for the robot is independent,which is helpful for the further controlled flight.All these measured results fit well with the calculated results of the aerodynamic model.Furthermore,with a total weight of 96 mg and a wingspan of 3.5 cm,this robot can generate sufficient lift to take off.
基金National Natural Science Foundation of China(NSFC,No.11672022 and No.11902017).
文摘Recently,a novel concept of flapping Micro-Air-Vehicles(FMAVs)with four wings has been proposed,which potentially utilizes the clap-and-fling effect for lift enhancement and agile maneuvers through an adjustment of wing kinematics.However,the application of the clap-and-fling effect in the four-winged FMAVs is underexplored and the dynamic stability is still unclear.In this paper,aerodynamics and flight dynamic stability of the four-winged FMAVs are studied experimentally and numerically.Results show that the clap-and-fling effect is observed when the flapping frequency is above 18 Hz.Due to the clap-and-fling effect,the lift generation and aerodynamic efficiency are both improved,which is mainly attributed to the fling phase.Further studies show that the clap-and-fling effect becomes weaker as the wing root spacing increases and is almost absent at a wing root spacing of 1.73 chord length.In addition,a wing with an aspect ratio of 3 can increase both lift generation and efficiency due to the clap-and-fling effect.Finally,according to the dynamic stability analysis of the four-winged FMAV,the divergence speed of the lateral oscillation mode is about 4 times faster than that of the longitudinal oscillation mode.Our results can provide guidance on the design and control of four-winged FMAVs.
