Experimental Analysis of Driveline Performance of Flapping Wing Nano-robots

Flapping wing aerial vehicles are a promising technology for operations in confined spaces. This paper summarizes work on the ongoing development of an insect-like flapping wing nano air vehicle at KU Leuven. The flapping wing driveline mechanism employs resonance support in an attempt to increase system efficiency. This work discusses a model-based approach as a tool for system analysis and prototype design. A measurement setup is used to experimentally validate the system model. The model is confirmed to reliably predict wing motion and force production. An extensive sensitivity study and subsequent experimental campaign provide further insight into the characteristics of the flapping wing mechanism. Visual tracking of the wing motion reveals a double figure-of-eight out-of-plane motion. A sensitivity analysis of system efficiency confirms the positive effect of resonance. Lift production is most efficient when the flapping wing stroke frequency is equal to the system resonance frequency. Reduction of wing size has a positive effect on system efficiency. This suggests insect-like flapping wing aerial vehicles hold a potential for further miniaturization, further increasing their real-life applicability.