A Framework for Characterizing Flapping Wing Systems
Abstract
:1. Introduction
- Instrumentation: The type of instrumentation.
- Mech In: Does the instrumentation measure the loading input to the mechanism?
- Wing In: Does the instrumentation measure the loading input to the wing?
- Wing Aero/Inert: Is the instrumentation capable of characterizing the wing loading as aerodynamic or inertial?
- Total Force: Can the instrumentation measure the total force output by the system?
2. Dynamics
3. Analysis
- Friction;
- Inertial Loading;
- Aerodynamic Loading;
- Elasticity.
3.1. Friction
- F—the force applied to the joint;
- —the angular position of the wing;
- —the angular velocity of the wing.
3.2. Inertia
- —The inertial loading on the wing;
- —The moment of inertia of the wing;
- —The angular acceleration of the wing;
- r—Sectional radius;
- m—Sectional mass.
3.3. Aerodynamics
3.3.1. Lift and Drag Definitions
3.3.2. Aerodynamics Calculations
- L is the lift;
- D is the drag;
- is the lift coefficient;
- is the drag coefficient;
- is the air density;
- is the air velocity;
- A is the wing area which is dependent on the wing’s changing angular position (, and ).
- r is the sectional radius of the wing;
- R is the total length of the wing;
- and are the velocity and area respectively of the wing at radius r.
3.3.3. Blade Element Method
- and represent the absolute values for lift and drag in the body frame;
- and represent the coefficients of lift and drag, respectively;
- is air density;
- is the linear velocity of the section of the wing at radius r;
- is the sectional area at radius r exposed to the airflow generated by ;
- is the airflow on the wing caused by the body velocity;
- is the area of the wing exposed to the airflow generated by .
3.4. Elasticity and Hysteresis
3.5. Previous Testing
4. Discussion
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Instrumentation | Mech In | Wing In | Wing Aero/Inert | Total Force |
---|---|---|---|---|
Bench mount force sensor [13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34] | No | No | No | Yes |
Wind tunnel and force sensor [35,36,37,38,39] | No | No | Yes * | Yes |
Load cell attached to wing root and vacuum vessel [40,41] | No | No | Yes | Yes |
Motor torque profiles [42] | Yes | No | No | No |
Counterbalance beam with angle sensor [43] | No | No | No | Calculated |
Symbol | Meaning | Units |
---|---|---|
Net force on wing | N | |
and | Forces on wing in x, y and z directions | N |
and | Unit vectors of wing coordinate system | - |
and | Forces acting on body from wing i | N |
and | Moments acting on body from wing i | N·m |
Torque input to wing | N·m | |
Torque input to mechanism | N·m | |
Mechanical efficiency of mechanism | - | |
F | Force applied to mechanism joint | N |
and | Flapping angular position, velocity and acceleration of wing | rad, rad s, rad s |
Pitching angle of wing (about lift axis) | rad | |
Lead lag angle of wing (perpendicular to ) | rad | |
t | Time | s |
Torque loading due to inertia | N·m | |
Wing moment of inertia | kg·m | |
r | Wing sectional radius | m |
m | Wing sectional mass | kg |
Air velocity over wing | ms | |
Wing velocity caused by motion of wing | ms | |
L, D | Lift and drag | N |
and | Lift and drag in wing reference plane | N |
and | Lift and drag in body reference plane | N |
and | Coefficients of lift and drag | - |
Air density | kg/m | |
A | Wing area | m |
R | Total length of wing | m |
Velocity from wing motion acting upon section radius r | ms | |
Area of wing at section radius r exposed to velocity | m | |
Area of wing exposed to air velocity | m |
Forces Present | ||||
---|---|---|---|---|
Friction | Inertia | Aerodynamics | Elasticity | |
No Wing | X | |||
In Vacuum | X | X | ||
Rigid Wing | X | X | X | |
Normal Wing | X | X | X | X |
Flapping Direction | |||
---|---|---|---|
AOA | Vertical | Horizontal | None |
«0 | Case 2 | Case 3 | X |
<0 | Case 4 | Case 5 | X |
0 | Case 10 | X | Case1 |
>0 | Case 6 | Case 7 | Case 1 |
»0 | Case 8 | Case 9 | Case 1 |
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Lefik, A.T.; Marian, R.M.; Ogunwa, T.; Chahl, J.S. A Framework for Characterizing Flapping Wing Systems. Drones 2022, 6, 398. https://doi.org/10.3390/drones6120398
Lefik AT, Marian RM, Ogunwa T, Chahl JS. A Framework for Characterizing Flapping Wing Systems. Drones. 2022; 6(12):398. https://doi.org/10.3390/drones6120398
Chicago/Turabian StyleLefik, Alex T., Romeo M. Marian, Titilayo Ogunwa, and Javaan S. Chahl. 2022. "A Framework for Characterizing Flapping Wing Systems" Drones 6, no. 12: 398. https://doi.org/10.3390/drones6120398