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Memorias de investigación
Conferencias:
Virtual-work-based Optimization Design on Compliant Transmission Mechanism for Flapping-wing Aerial Vehicles
Año:2016
Áreas de investigación
  • Automática,
  • Robótica
Datos
Descripción
This paper presents a method for analyzing and optimizing the design of a compliant transmission mechanism for a flapping-wing aerial vehicle. Its purpose is of minimizing the peak input torque required from a driving motor. In order to maintain the stability of flight, minimizing the peak input torque is necessary. To this purpose, first, a pseudo-rigid-body model was built and a kinematic analysis of the model was carried out. Next, the aerodynamic torque generated by flapping wings was calculated. Then, the input torque required to keep the flight of the vehicle was solved by using the principle of virtual work. The values of the primary attributes at compliant joints (i.e., the torsional stiffness of virtual spring and the initial neutral angular position) were optimized. By comparing to a full rigid-body mechanism, the compliant transmission mechanism with well-optimized parameters can reduce the peak input torque up to 66.0%.
Internacional
Si
ISSN o ISBN
978-1-5090-1510-8
Entidad relacionada
MARSS 2016
Nacionalidad Entidad
FRANCIA
Lugar del congreso
Paris, France
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Chao Zhang (UPM)
  • Autor: Claudio Rossi (UPM)
  • Autor: Wei He (Universidad Politécnica de Madrid)
  • Autor: Julian Colorado (Pontificia Universidad Javeriana)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
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