This work discusses the integration of two previously disparate research areas: topology optimization of compliant mechanisms, and flapping wing vehicles. The efficient actuation of the latter is considerably challenging, with competing weight, energy, and authority requirements; intuitive design strategies are not typically available for the aeroelastic physics that define the flapping system. We discuss the incorporation of these physics into a gradient-based topological optimization scheme, in order to design thrust-optimal compliant flapping mechanisms. This is done with a nonlinear dynamical finite element model incorporating both the mechanism and the wing structure, coupling elastic, inertial, aerodynamic, and actuator forces. Several optimal mechanism topologies are presented, along with a detailed discussion of the relevant flapping physics driving the design process.
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