Implementation of initial passive stability in insect-mimicking flapping-wing micro air vehicle

摘要

Purpose - The purpose of this paper is to demonstrate the uncontrolled vertical takeoff of an insect-mimicking flapping-wing micro air vehicle (FW-MAV) of 12.5 cm wing span with a body weight of 7.36 g after installing batteries and power control. Design/methodology/approach - The forces were measured using a load cell and estimated by the unsteady blade element theory (UBET), which is based on full three-dimensional wing kinematics. In addition, the mean aerodynamic force center (AC) was determined based on the UBET calculations using the measured wing kinematics. Findings - The wing flapping frequency can reach to 43 Hz at the flapping angle of 150°. By flapping wings at a frequency of 34 Hz, the FW-MAV can produce enough thrust to over its own weight. For this condition, the difference between the estimated and average measured vertical forces was about 7.3 percent with respect to the estimated force. All parts for the FW-MAV were integrated such that the distance between the mean AC and the center of gravity is close to zero. In this manner, pitching moment generation was prevented to facilitate stable vertical takeoff. An uncontrolled takeoff test successfully demonstrated that the FW-MAV possesses initial pitching stability for takeoff. Originality/value - This work has successfully demonstrated an insect-mimicking flapping-wing MAV that can stably takeoff with initial stability.