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Towards flapping wing control for a micromechanical flying insect

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5 Author(s)
Yan, J. ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA ; Wood, R.J. ; Avadhanula, S. ; Sitti, M.
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Considers 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 106 cycles. Wing spars were instrumented with strain gauges for force measurement and closed-loop wing control.

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Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

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