Effects of Elastic Hinges on Input Torque Requirements for a Motorized Indirect-Driven Flapping-Wing Compliant Transmission Mechanism

This paper presents compliant transmission mechanisms for a flapping-wing micro air vehicle. The purpose of this mechanism is to reduce power consumption, a critical issue in this kind of vehicles, as well as to minimize the peak input torque required by the driving motor, which helps to maintain fl...

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Detalles Bibliográficos
Autores: Zhang, Chao, Rossi, Claudio
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2019
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/215443
Acceso en línea:http://hdl.handle.net/10261/215443
Access Level:acceso abierto
Palabra clave:Torque
Fasteners
Springs
Manufacturing processes
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spelling Effects of Elastic Hinges on Input Torque Requirements for a Motorized Indirect-Driven Flapping-Wing Compliant Transmission MechanismZhang, ChaoRossi, ClaudioTorqueFastenersSpringsManufacturing processesThis paper presents compliant transmission mechanisms for a flapping-wing micro air vehicle. The purpose of this mechanism is to reduce power consumption, a critical issue in this kind of vehicles, as well as to minimize the peak input torque required by the driving motor, which helps to maintain flight stability and reduces mechanical shocks of the structure. We first describe the development of pseudo-rigidbody model of the mechanism and the analysis of the corresponding kinematics. Second, we compute the required input torque for driving stable flapping motions, from the perspectives of work and energy. For this computation, two methods are applied, one based on the principle of virtual work and another one based on rigid-body dynamics. Our mathematical analysis demonstrates that both methods are consistent with each other in terms of the resulting input torque from the motor. Finally, according to the results from the input torque analysis, the main parameters characterizing the compliant joints, the torsional stiffness of virtual spring and initial neutral angular position, are optimized. The experimental results carried out with two different mechanical setups, one with rigid components, and another one with flexible components, demonstrate the relationship between the input voltage (that is directly related to flapping frequency) and power saving of the compliant mechanism. The average power consumption is reduced of up to 4%, and peak power consumption is reduced up to 25% using the compliant transmission mechanisms compared to the rigid mechanism. The experiments also show a clear relationship between flapping frequency and power savings.The work of C. Zhang was supported by the China Scholarship Council (CSC). The work of C. Rossi was supported in part by the RoboCity2030-III-CM Project (S2013/MIT-2748, Robotica aplicada a la mejora de la calidad de vida de los ciudadanos, fase III), through the Programas de Actividades I+D en la Comunidad de Madrid, and in part by the Structural Funds of the EU.Peer reviewedInstitute of Electrical and Electronics EngineersComunidad de MadridChina Scholarship CouncilEuropean CommissionZhang, Chao [0000-0003-0399-1201]Rossi, Claudio [0000-0002-8740-2453]Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202020202019info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Publisher's versioninfo:eu-repo/semantics/publishedVersionhttp://hdl.handle.net/10261/215443reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés#PLACEHOLDER_PARENT_METADATA_VALUE#S2013/MIT-2748/RoboCity2030-III-CMhttp://dx.doi.org/10.1109/ACCESS.2018.2889182Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/2154432026-05-22T06:33:51Z
dc.title.none.fl_str_mv Effects of Elastic Hinges on Input Torque Requirements for a Motorized Indirect-Driven Flapping-Wing Compliant Transmission Mechanism
title Effects of Elastic Hinges on Input Torque Requirements for a Motorized Indirect-Driven Flapping-Wing Compliant Transmission Mechanism
spellingShingle Effects of Elastic Hinges on Input Torque Requirements for a Motorized Indirect-Driven Flapping-Wing Compliant Transmission Mechanism
Zhang, Chao
Torque
Fasteners
Springs
Manufacturing processes
title_short Effects of Elastic Hinges on Input Torque Requirements for a Motorized Indirect-Driven Flapping-Wing Compliant Transmission Mechanism
title_full Effects of Elastic Hinges on Input Torque Requirements for a Motorized Indirect-Driven Flapping-Wing Compliant Transmission Mechanism
title_fullStr Effects of Elastic Hinges on Input Torque Requirements for a Motorized Indirect-Driven Flapping-Wing Compliant Transmission Mechanism
title_full_unstemmed Effects of Elastic Hinges on Input Torque Requirements for a Motorized Indirect-Driven Flapping-Wing Compliant Transmission Mechanism
title_sort Effects of Elastic Hinges on Input Torque Requirements for a Motorized Indirect-Driven Flapping-Wing Compliant Transmission Mechanism
dc.creator.none.fl_str_mv Zhang, Chao
Rossi, Claudio
author Zhang, Chao
author_facet Zhang, Chao
Rossi, Claudio
author_role author
author2 Rossi, Claudio
author2_role author
dc.contributor.none.fl_str_mv Comunidad de Madrid
China Scholarship Council
European Commission
Zhang, Chao [0000-0003-0399-1201]
Rossi, Claudio [0000-0002-8740-2453]
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Torque
Fasteners
Springs
Manufacturing processes
topic Torque
Fasteners
Springs
Manufacturing processes
description This paper presents compliant transmission mechanisms for a flapping-wing micro air vehicle. The purpose of this mechanism is to reduce power consumption, a critical issue in this kind of vehicles, as well as to minimize the peak input torque required by the driving motor, which helps to maintain flight stability and reduces mechanical shocks of the structure. We first describe the development of pseudo-rigidbody model of the mechanism and the analysis of the corresponding kinematics. Second, we compute the required input torque for driving stable flapping motions, from the perspectives of work and energy. For this computation, two methods are applied, one based on the principle of virtual work and another one based on rigid-body dynamics. Our mathematical analysis demonstrates that both methods are consistent with each other in terms of the resulting input torque from the motor. Finally, according to the results from the input torque analysis, the main parameters characterizing the compliant joints, the torsional stiffness of virtual spring and initial neutral angular position, are optimized. The experimental results carried out with two different mechanical setups, one with rigid components, and another one with flexible components, demonstrate the relationship between the input voltage (that is directly related to flapping frequency) and power saving of the compliant mechanism. The average power consumption is reduced of up to 4%, and peak power consumption is reduced up to 25% using the compliant transmission mechanisms compared to the rigid mechanism. The experiments also show a clear relationship between flapping frequency and power savings.
publishDate 2019
dc.date.none.fl_str_mv 2019
2020
2020
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Publisher's version
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/215443
url http://hdl.handle.net/10261/215443
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv #PLACEHOLDER_PARENT_METADATA_VALUE#
S2013/MIT-2748/RoboCity2030-III-CM
http://dx.doi.org/10.1109/ACCESS.2018.2889182
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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