A Sub-100 mg Electromagnetically Driven Insect-inspired Flapping-wing Micro Robot Capable of Liftoff and Control Torques Modulation  

作　　者：Chenyang Wang Weiping Zhang Yang Zou Ran Meng Jiaxin Zhao Mingchen Wei 

机构地区：[1]National Key Laboratory of Science and Technology on Micro/Nano Fabrication,School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China

出　　处：《Journal of Bionic Engineering》2020年第6期1085-1095,共11页仿生工程学报（英文版）

基　　金：supported by the Supporting Foundation of the Ministry of Education of the People's Republic of China(6141A02022607,6141A02022627);Shanghai Science and Technology Commission Project(19511104202);Shanghai Professional technical service platform(19DZ2291103);the Pre-research Fund(1'7070107).

摘　　要：Inspired by the unique,agile and efficient flapping flight of insects,we present a novel sub-100 mg,electromagnetically driven,tailless,flapping-wing micro robot.This robot utilizes two optimized electromagnetic actuators placed back to back to drive two wings separately,then kinematics of each wing can be independently controlled,which gives the robot the ability to generate all three control torques of pitch,roll and yaw for steering.To quantify the performance of the robot,a simplified aerodynamic model is used to estimate the generated lift and torques,and two customized test platforms for lift and torque measurement are built for this robot.The mean lift generated by the robot is measured to be proportional to the square of the input voltage amplitude.The three control torques are measured to be respectively proportional to three decoupled parameters of the control voltages,therefore the modulation of three control torques for the robot is independent,which is helpful for the further controlled flight.All these measured results fit well with the calculated results of the aerodynamic model.Furthermore,with a total weight of 96 mg and a wingspan of 3.5 cm,this robot can generate sufficient lift to take off.

关 键 词：insect-inspired insect-scale micro robot FMAV electromagnetic actuation 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]