Design and manufacturing of a controllable miniature flapping wing robotic platform

In this work we present the design of a scalable, controllable, miniature flapping wing robot. The design effort comprises considerations of the number of driving actuators for controllability, body structure for both weight minimization and rigidity, and overall compactness of the robot design. This results in the development of the spherical four-bar transmission mechanism, with a single-wing prototype experimentally characterized. A dual-wing robot design manufactured via the smart composite microstructures technique is presented, featuring independent wing actuation. Finite-element analysis of the final airframe design is presented, ensuring vibration modes out of the operation range of the platform and high rigidity. A working prototype is manufactured and experiments are conducted characterizing the robot's lift production capabilities and ensuring minimal wing coupling. A scaling law of the proposed design is presented based on momentum theory, predicting an increase of the lift/weight ratio with decreasing size. An optimization methodology for the parameters of a scaled down prototype is presented, based on a developed theoretical simulation and design tool. Finally, a 1/2 scaled down prototype using the optimized parameters is built and tested, featuring a lift/weight ratio of 3/8.